KR102350621B1 - Lidar apparatus - Google Patents

Abstract

A lidar device according to the present invention includes a light source for generating a source light; a rotating mirror rotatably disposed on the optical path of the source light, the direction of the reflective surface is temporally variable, and the direction of the source light is changed temporally to reflect upwardly as scan light; a lens unit disposed on the rotating mirror to extend the angle at which the scan light is emitted to the front of the lidar device and downwardly refract the received light that is reflected by the external reflector and returned to the scan light; It is disposed in front of the rotating mirror, reflects the received light refracted by the lens unit, and a scan light transmitting unit is formed at a position opposite to the rotating mirror so that the optical path of the scan light emitted from the rotating mirror is not blocked. receiving mirror; a light guide unit for guiding the received light reflected by the receiving mirror; and a light detection unit configured to detect the received light guided by the light guide unit. According to the present invention, by guiding the received light reflected by the external reflector and returned in the direction of the light detection unit by the light guide unit, the light detection unit increases the reception efficiency of the received light, thereby enabling more accurate distance measurement. have.

Description

LIDAR APPARATUS {LIDAR APPARATUS}

The present invention relates to a lidar device for measuring a distance to an external reflector and a shape of an external reflector using light.

LIDAR (Light Detection And Ranging) refers to detecting an object using light and measuring the distance to the object. LiDAR is similar to Radar (Radio Detection And Rangin) in function, but it is different from radar using radio waves in that it uses light. Due to the difference in the Doppler effect between light and microwave, lidar has superior azimuth resolution and distance resolution compared to radar.

LiDAR devices emit laser pulses from satellites or aircraft and receive pulses backscattered by particles in the atmosphere from the ground observatory, which has been the mainstream of aviation lidar devices. , and has been used to measure the presence and movement of aerosols, cloud particles, etc., and to analyze the distribution of dust particles in the air or the degree of air pollution. However, in recent years, both the transmitter and receiver are deployed on the ground to detect obstacles, model the terrain, and acquire the location of the target. , research is being actively conducted with the application to civil fields such as mobile robots, intelligent cars, and unmanned vehicles in mind.

The terrestrial lidar device is typically composed of a transmission optical system that emits laser pulses, a reception optical system that receives reception light reflected by an external reflector, and an analysis unit that determines the position of the object. Here, the analysis unit calculates the distance to the external reflector by determining the time taken for transmission and reception with respect to the reflected light, and in particular, by calculating the distance for the received light received from each direction, within the image corresponding to the Field of View (FOV). You can also create a street map from

However, the conventional terrestrial LIDAR device emits a laser with a wide beam width corresponding to the angle of view, and simultaneously acquires received light from all directions within the angle of view to obtain the distance to the external reflector, so a laser module with very high output is required. Therefore, there is a problem that the price of the device is very expensive. In addition, since the laser module with high output has a large size, it acts as a factor to increase the overall size of the lidar device.

In particular, in the case of a lidar device having a panoramic scanning function, the entire device including the transmission optical system and the reception optical system rotates and operates. Examples of such devices are described in US Patent Publication Nos. 2011/0216304, 2012/0170029, 2014/0293263, and US Patent Publication No. 8836922. However, when the entire device is rotated in this way, since the overall size of the lidar device becomes very large, there is a problem of an increase in the price of the device and power consumption.

US Patent Publication No. 2011/0216304 (published on September 8, 2011) US Patent Publication No. 2012/0170029 (published on: 2012.07.05) US Patent Publication No. 2014/0293263 (published date: 2014.10.02) US Patent Publication No. 8836922 (published on September 16, 2014)

The present invention has been devised to solve the above problems, by emitting a laser beam in a scanning manner to an external reflector located outside the lidar device, and acquiring the received light reflected by the external reflector and returning the reflector An object of the present invention is to provide a lidar device having a very low laser power required, reducing the overall size of the device, and having low manufacturing and operating costs by calculating the distance to the .

In addition, the present invention provides a lidar device capable of more accurate distance measurement by guiding the received light reflected by the external reflector and returned in the direction of the light detecting unit, thereby increasing the efficiency at which the light detecting unit receives the received light. that has its purpose

In order to achieve the above object, a lidar device according to an embodiment of the present invention, a light source for generating a source light; a rotating mirror rotatably disposed on the optical path of the source light, the direction of the reflective surface is temporally variable, and the direction of the source light is changed temporally to reflect upwardly as scan light; a lens unit disposed on the rotating mirror to extend the angle at which the scan light is emitted to the front of the lidar device and downwardly refract the received light that is reflected by the external reflector and returned to the scan light; It is disposed in front of the rotating mirror, reflects the received light refracted by the lens unit, and a scan light transmitting unit is formed at a position opposite to the rotating mirror so that the optical path of the scan light emitted from the rotating mirror is not blocked. receiving mirror; a light guide unit for guiding the received light reflected by the receiving mirror; and a light detection unit configured to detect the received light guided by the light guide unit.

Here, the lidar device according to an embodiment of the present invention may further include a first condensing lens for condensing the received light reflected by the receiving mirror, and accordingly, the light guide unit is attached to the first condensing lens. It is possible to guide the received light collected by the

In addition, the lidar device according to an embodiment of the present invention may further include a reflective mirror for reflecting the received light collected by the first condensing lens in the direction of the light guide unit.

In addition, the source light generated from the light source may be reflected by the receiving mirror to be incident on the rotating mirror.

The light guide unit may include an incident unit to which the received light reflected by the receiving mirror is incident, and an exit unit through which the received light incident to the light guide unit is emitted, and may have a hollow interior.

Here, the light guide part may have a cross-sectional area that gradually decreases from the incident part to the output part.

In addition, the lidar device according to an embodiment of the present invention may further include a second condensing lens for condensing the received light guided by the light guide unit, and accordingly, the light detecting unit may further include the second condensing unit. It may be to detect the received light condensed by the lens.

In addition, at least two or more wide-angle lenses may be arranged in a line in the vertical direction of the lens unit.

In addition, the lidar device according to an embodiment of the present invention, disposed adjacent to the lens unit, and further comprising a rear reflection mirror curved to emit the scan light incident thereto to the rear of the lidar device can

On the other hand, in order to achieve the above object, a lidar device according to another embodiment of the present invention, a light source for generating a source light; a rotating mirror rotatably disposed on the optical path of the source light, the direction of the reflective surface is temporally variable, and the direction of the source light is changed temporally to reflect upwardly as scan light; a lens unit disposed on the rotating mirror to extend the angle at which the scan light is emitted to the front of the lidar device and downwardly refract the received light that is reflected by the external reflector and returned to the scan light; a light guide unit for guiding the received light refracted by the lens unit; and a light detection unit configured to detect the received light guided by the light guide unit.

Here, the rotating mirror, the lens unit, the light guide unit, and the light detection unit may be disposed on a straight line.

The light guide unit may include an incident unit to which the received light reflected by the receiving mirror is incident, and an exit unit through which the received light incident to the light guide unit is emitted, and may have a hollow interior.

Here, the light guide part may have a cross-sectional area that gradually decreases from the incident part to the output part.

Here, the lidar device according to another embodiment of the present invention is connected to the upper side of the light guide unit, and may further include a hollow sub light guide unit.

Here, the sub light guide portion may have a cross-sectional area that gradually decreases from the lower side to the upper side.

In addition, the lidar device according to another embodiment of the present invention may further include a condensing lens for condensing the received light guided by the light guide unit, the light detection unit is the number of condensed by the condensing lens It may be to detect a new light.

In addition, at least two or more wide-angle lenses may be arranged in a line in the vertical direction of the lens unit.

And the light source is disposed on one side of the light guide part, the rotating mirror is disposed inside the light guide part, the light guide part on the optical path of the source light so as not to block the optical path of the source light generated by the light source A source light transmitting portion may be formed on the .

Alternatively, the light source is disposed on one side of the light guide part, the rotating mirror is disposed at a position opposite to one side of the light guide part, and the optical path of the scan light is not blocked in the light guide part A scan light transmitting part may be formed thereon.

Here, the source light generated from the light source may be reflected by the light guide unit to be incident on the rotating mirror.

In addition, the lidar device according to another embodiment of the present invention, disposed adjacent to the lens unit, and further comprising a rear reflection mirror curved to emit the scan light incident thereto to the rear of the lidar device can

According to the present invention, since the source light generated from the light source is emitted to the outside of the LIDAR device in a scanning manner by the rotating mirror, the laser output required is lower than that of the conventional LIDAR device that simultaneously emits the source light in all directions within the angle of view. It is very low, the overall size of the device can be reduced, and the manufacturing cost and operating cost can be reduced.

In addition, according to the present invention, by guiding the received light reflected by the external reflector and returned in the direction of the light detecting unit by the light guide unit, the light detecting unit increases the reception efficiency of the received light, so that more accurate distance measurement is possible. can

1 is a view showing a lidar device according to a first embodiment of the present invention.
2 is a view showing a lidar device according to a second embodiment of the present invention.
3 is a view showing a lidar device according to a third embodiment of the present invention.
4 is a view showing a lidar device according to a fourth embodiment of the present invention.
5 is a view showing a lidar device according to a fifth embodiment of the present invention.
6 is a view showing a lidar device according to a sixth embodiment of the present invention.
7 is a view showing a lidar device according to a seventh embodiment of the present invention.

Hereinafter, various embodiments of the lidar device according to the present invention will be described in detail with reference to the accompanying drawings. The accompanying drawings are provided so that the spirit of the present invention can be sufficiently conveyed to those skilled in the art, and the present invention is not limited to the accompanying drawings, but may be modified in other forms within the scope that does not change the technical spirit of the present invention. can be materialized.

In the drawings, the same reference numerals indicate the same components, and detailed descriptions of well-known functions and configurations that may unnecessarily obscure the gist of the present invention will be omitted.

1 is a diagram illustrating a lidar device according to a first embodiment of the present invention, and FIG. 2 is a diagram illustrating a lidar device according to a second embodiment of the present invention.

1 and 2 , the lidar device according to the first embodiment of the present invention includes a light source 110 , a rotating mirror 120 , a lens unit 130 , a receiving mirror 140 , and a light guide unit 170 . ) and a light detection unit 190 may be included.

The light source 110 generates a source laser light (hereinafter, referred to as 'source light') for scanning an object (hereinafter, referred to as an 'external reflector') located outside the lidar device. The source light is preferably a pulse laser. The source light generated from the light source 110 is incident on the rotating mirror 120 .

The rotating mirror 120 re-reflects the source light generated from the light source 110 and advances the re-reflected source light (hereinafter, referred to as 'scan light') in the direction of the lens unit 130 . The rotating mirror 120 is rotatably disposed in two axis directions on the optical path of the source light so that the direction of its reflective surface is temporally changed, and the direction of the source light is changed temporally to reflect upwardly as scan light. For example, the rotating mirror 120 may rotate in the left and right directions and up and down directions based on the front surface thereof, and may rotate a plurality of times in the left and right directions during one rotation from the upper side to the lower side. By such a rotating mirror 120, the source light may be periodically scanned toward the front of the lidar device.

The rotating mirror 120 may be a MEMS mirror in which a mirror is disposed on a MEMS semiconductor. The MEMS mirror is shown in detail in the drawings of Korean Patent Registration No. 10-0682955, and since a person skilled in the art can easily implement it based on this specification, a detailed description thereof will be omitted.

The lens unit 130 is disposed on the rotating mirror 120 , and extends the angle at which the scan light emitted from the rotating mirror 120 is emitted to the front of the lidar device. In addition, the lens unit 130 refracts the received light, which is reflected from the externally reflected scan light by the external reflector and returned, downward.

The lens unit 130 may be formed of one wide-angle lens, or at least two or more wide-angle lenses may be arranged in a line in the vertical direction.

The reception mirror 140 is disposed in front of the rotation mirror 120, reflects the reception light refracted by the lens unit 130, and the rotation mirror ( A scan light transmitting part 145 is formed at a position opposite to the 120 .

The scan light transmitting part 145 may be a through hole formed at an approximately central position of the receiving mirror 140 . Alternatively, the scan light transmitting unit 145 may be a portion formed to allow light to pass through by removing the mirror coating at an approximately central position of the receiving mirror 140 .

On the other hand, the source light generated from the light source 110 may be reflected by the receiving mirror 140 to be incident on the rotating mirror 120. For this, a portion where the source light is incident on the receiving mirror 140 is mirror coated. This can be done. According to this configuration, the overall size of the lidar device can be miniaturized.

It is preferable that the received light reflected by the receiving mirror 140 is condensed by the first condensing lens 150 so that the light detection unit 190 can detect the received light with higher efficiency.

In addition, the received light collected by the first condensing lens 150 may be reflected in the direction of the light guide unit 170 by the reflective mirror 160 .

Here, the reflective mirror 160 needs to be disposed in consideration of the position of the light guide unit 170 . That is, as shown in FIG. 2 , when the light guide unit 170 is positioned on the same line as the optical path of the received light immediately after being reflected by the receiving mirror 140 , the reflection mirror 160 must be provided. In this case, the lidar device shown in FIG. 2 can reduce the overall size of the lidar device due to the omission of the reflective mirror 160 compared to the lidar device shown in FIG. 1 , and the manufacturing cost can also be reduced.

The light guide unit 170 guides the received light reflected by the receiving mirror 140 , and the received light guided by the light guide unit 170 is detected by the light detection unit 190 .

In this case, the second condensing lens 180 may be disposed between the light guide unit 170 and the light detection unit 190 . The second condensing lens 180 condenses the received light guided by the light guide unit 170 , and accordingly, the light detection unit 190 detects the received light collected by the second condensing lens 180 . do. The second condensing lens 180 condenses the received light reflected by the receiving mirror 140 like the first condensing lens 150 so that the light detector 190 can detect the received light with higher efficiency. help.

The light guide unit 170 includes an incident unit 171 through which the received light reflected by the receiving mirror 140 is incident, and an exit unit 172 through which the received light incident on the incident unit 171 is emitted. Its interior is made of hollow. The light guide unit 170 may be made of a glass material, but if it is made of a material other than glass, a mirror coating may be applied therein.

The received light incident on the incident part 171 of the light guide part 170 is reflected from its inner surface and then exits to the output part 172 . Meanwhile, in order for the light detection unit 190 to receive the received light with high efficiency, the light guide unit 170 preferably has a shape in which the cross-sectional area gradually decreases from the incident unit 171 to the emission unit 172 . This allows the receiving light reflected by the receiving mirror 140 to be incident as much as possible in the incident unit 171 of the light guide unit 170, and the number emitted from the light receiving unit 172 in the light guide unit 170 by the light guide unit 170. This is to make the maximum amount of received light incident on the light detection unit 190 by minimizing the divergence of the incoming light.

The light detection unit 190 detects the received light guided by the light guide unit 170 . One or more avalanche photodiode (APD) arrays may be used as the photodetector 190 .

3 is a diagram showing a lidar device according to a third embodiment of the present invention, FIG. 4 is a diagram showing a lidar device according to a fourth embodiment of the present invention, and FIG. 5 is a fifth embodiment of the present invention It is a view showing the lidar device according to the.

The embodiments shown in FIGS. 3 to 5 are different from the embodiments shown in FIGS. 1 and 2 in that they do not include a receiving mirror.

First, referring to FIG. 3 , the lidar device according to the third embodiment of the present invention includes a light source 510 , a rotating mirror 520 , a lens unit 530 , a light guide unit 570 , and a light detection unit 590 . may be included.

The light source 510 generates a source light for scanning the external reflector, and the source light is preferably a pulse laser. Meanwhile, the source light generated from the light source 510 is incident on the rotating mirror 520 .

The rotating mirror 520 advances the scan light that is re-reflected from the source light generated by the light source 510 in the direction of the lens unit 530 . The rotating mirror 520 is rotatably disposed in the two-axis direction on the optical path of the source light so that the direction of the reflective surface is temporally changed, and the direction of the source light is changed temporally to reflect upwardly as scan light. For example, the rotating mirror 520 may rotate in the left and right directions and up and down directions based on its front surface, and may be rotated multiple times in the left and right directions while rotating once from the top to the bottom. By such a rotating mirror 120, the source light may be periodically scanned toward the front of the lidar device.

The rotating mirror 520 may be a MEMS mirror in which a mirror is disposed on a MEMS semiconductor as described above.

The lens unit 530 is disposed on the rotating mirror 520 and expands the angle at which the scan light reflected from the rotating mirror 520 is emitted to the front of the lidar device. In addition, the lens unit 530 refracts the scan light reflected to the outside is reflected by the external reflector and returns the received light downward.

The lens unit 530 may be formed of one wide-angle lens, or at least two or more wide-angle lenses may be arranged in a line in the vertical direction.

The received light refracted by the lens unit 530 is incident on the light guide unit 570 disposed below the lens unit 530 .

The light guide unit 570 guides the received light refracted by the lens unit 530 , and the received light guided by the light guide unit 570 is detected by the light detection unit 590 .

In this case, a condensing lens 580 may be disposed between the light guide unit 570 and the light detection unit 590 . The condensing lens 580 collects the received light guided by the light guide unit 570 , and accordingly, the light detecting unit 590 detects the received light collected by the condensing lens 580 . The condensing lens 580 helps the light detector 590 detect the received light with higher efficiency by condensing the received light reflected by the lens unit 530 .

The light guide unit 570 includes an incident unit 571 through which the received light reflected by the lens unit 530 is incident, and an output unit 572 through which the received light incident on the incident unit 571 is emitted. Its interior is made of hollow. The light guide part 570 may be made of a glass material, but if it is made of a material other than glass, a mirror coating may be applied therein.

The received light incident on the incident part 571 of the light guide part 570 is reflected from its inner surface and then exits to the output part 572 . In order for the light detection unit 590 to receive the received light with high efficiency, the light guide unit 570 preferably has a shape in which the cross-sectional area gradually decreases from the incident unit 571 to the emission unit 572 . This allows the receiving light refracted by the lens unit 530 to be incident as much as possible at the incident unit 571 of the light guide unit 570 , and the number emitted from the light receiving unit 572 at the light guide unit 570 . This is to make the maximum amount of received light incident on the light detection unit 590 by minimizing the divergence of the incoming light.

The light detection unit 590 detects the received light guided by the light guide unit 570 . One or more avalanche photodiode (APD) arrays may be used as the photodetector 590 .

As shown in FIG. 3 , in the lidar device according to the present invention, the scan light reflected from the rotating mirror 520 is emitted in a scan manner and is incident on the lens unit 530 , while the lens unit 530 has an external reflector. Since the received light reflected and returned is refracted downward, the rotating mirror 520 , the lens unit 530 , the light guide unit 570 , and the light detection unit 590 can be arranged in a straight line. In this configuration, it becomes possible to reduce the size of the entire lidar device.

Referring to FIG. 4 , the lidar device shown in FIG. 4 is different from the lidar device shown in FIG. 3 only in that it further includes a sub light guide unit 600 on the upper side of the light guide unit 570 .

As described above, the lens unit 530 downwardly refracts the received light reflected by the external reflector and returned. In this case, according to the surface state of the lens unit 530 , the received light refracted by the lens unit 530 may have an optical path different from the expected optical path and be refracted downward. Accordingly, by providing the sub light guide unit 600 on the upper side of the light guide unit 570 , it has an optical path different from the expected light path and guides the received light refracted downward in the direction of the light detection unit 590 . desirable.

The sub light guide unit 600 is connected in contact with the upper side of the light guide unit 570 . The sub light guide unit 600 may also be made of a glass material like the light guide unit 570 , but if it is made of a material other than glass material, a mirror coating may be applied therein.

In addition, in order to reflect the light incident thereto to the light guide unit 570 , the sub light guide unit 600 is preferably configured to have a smaller cross-sectional area from the lower side to the upper side of the sub light guide unit 600 . As such, by providing the sub light guide unit 600 on the upper side of the light guide unit 570 , the focusing efficiency of the received light refracted by the lens unit 530 can be increased.

The lidar device shown in FIG. 5 is different from the lidar device shown in FIG. 4 in the positions of the light source 510 and the rotating mirror 520 .

Referring to FIG. 5 , the light source 510 is disposed on one side of the light guide part 570 , and the rotating mirror 520 is disposed inside the light guide part 570 . In this case, the light path of the source light generated from the light source 510 may be blocked by the light guide unit 570 . Accordingly, it is preferable that the source light transmitting unit 575 is formed in the light guide unit 570 on the light path of the source light so that the light path of the source light generated from the light source 510 is not blocked. Here, the source light transmitting part 575 may be a through hole formed in the optical path of the source light.

The lidar device shown in FIG. 6 is different from the lidar device shown in FIG. 4 in the shape of the light guide part 570 and the positions of the light source 510 and the rotating mirror 520 .

Referring to FIG. 6 , the light guide part 570 has an asymmetric shape on the left and right. In addition, the light source 510 is disposed on one side of the light guide unit 570 , and the rotating mirror 520 is disposed at a position opposite to the one side of the light guide unit 570 .

In this case, the optical path of the scan light emitted from the rotating mirror 520 may be blocked by the light guide unit 570 . Accordingly, it is preferable that the scan light transmitting unit 578 is formed on the optical path of the scan light so that the light path of the scan light emitted from the rotating mirror 520 is not blocked in the light guide unit 570 . Here, the scan light transmitting part 578 may be a through hole formed in the optical path of the scan light.

And in this case, the source light generated from the light source 510 may be reflected by the light guide unit 570 to be incident on the rotating mirror 520 . For this, the source light is incident on the light guide unit 570 . Mirror coating may be performed. According to this configuration, the overall size of the lidar device can be miniaturized.

7 is a view showing a lidar device according to a seventh embodiment of the present invention.

The lidar device shown in FIG. 7 has a different configuration of the lens unit 130 compared to the lidar device shown in FIG. 1 , and the rear reflection mirror 200 is additionally disposed adjacent to the lens unit 130 . There is a difference in

The lens unit 130 may be formed of a single wide-angle lens as shown in FIG. 1 . Alternatively, the lens unit 130 may be formed by arranging at least two or more wide-angle lenses in a line in the vertical direction, as shown in FIG. 7 . Compared to the case where the lens unit 130 is formed of only one wide-angle lens, when at least two or more wide-angle lenses are arranged in a line in the vertical direction, the scan light emitted from the rotating mirror 120 is emitted to the front of the lidar device. As the angle is extended, a range for detecting an external reflector may be further expanded.

The rear reflection mirror 200 is disposed adjacent to the lens unit 130 and is curved to emit the scan light incident thereto to the rear of the lidar device. As such a rear reflection mirror 200 is provided, since the scan light emitted from the rotating mirror 120 is emitted not only to the front of the lidar device but also to the rear, the range that can detect an external reflector is further expanded. can

Although FIG. 7 shows a modified example of the lidar device shown in FIG. 1, the configuration of the lens unit 130 shown in FIG. 7 and the rear reflection mirror 200 disposed adjacent to the lens unit 130 are shown in FIGS. It goes without saying that the same may be applied to other embodiments of the present invention shown in FIG. 6 .

In addition, although the present invention has been described with reference to the limited embodiments and drawings, the present invention is not limited to the above embodiments, which are various modifications and variations from these descriptions by those skilled in the art to which the present invention pertains. This is possible. Accordingly, the technical spirit of the present invention should be understood only by the claims, and all equivalents or equivalent modifications thereof will fall within the scope of the technical spirit of the present invention.

110, 510: light source
120, 520: rotating mirror
130, 530: lens unit
140: receiving mirror
150: first condensing lens
160: reflection mirror
170, 570: light guide unit
180: second condensing lens
190, 590: light detection unit
200: rear reflection mirror

Claims (22)

a light source for generating a source light;
a rotating mirror rotatably disposed on the optical path of the source light, the direction of the reflective surface is temporally variable, and the direction of the source light is changed temporally to reflect upwardly as scan light;
a lens unit disposed on the rotating mirror to extend the angle at which the scan light is emitted to the front of the lidar device, and downwardly refracts the received light that is reflected by the external reflector and returned to the scan light;
It is disposed in front of the rotating mirror, reflects the received light refracted by the lens unit, and a scan light transmitting part is formed at a position opposite to the rotating mirror so that the optical path of the scan light emitted from the rotating mirror is not blocked. receiving mirror;
a light guide unit for guiding the received light reflected by the receiving mirror;
a light detection unit detecting the received light guided by the light guide unit; and
The lidar device including a rear-reflecting mirror disposed adjacent to the lens unit and curved to emit the scan light incident thereto to the rear of the lidar device.
The method of claim 1,
Further comprising a first condensing lens for condensing the received light reflected by the receiving mirror,
The light guide unit LiDAR device, characterized in that for guiding the received light focused by the first condensing lens.
3. The method of claim 2,
The lidar device further comprising a reflective mirror for reflecting the received light focused by the first condensing lens toward the light guide unit.
According to claim 1,
The source light generated from the light source is reflected by the receiving mirror and is incident on the rotating mirror lidar device.
According to claim 1,
The light guide unit includes an incident unit through which the received light reflected by the receiving mirror is incident, and an emitting unit through which the received light incident on the light guide unit is emitted, and the interior of the lidar device is hollow.
6. The method of claim 5,
The light guide portion LiDAR device, characterized in that the cross-sectional area gradually decreases from the incident portion to the exit portion.
According to claim 1,
Further comprising a second condensing lens for condensing the received light guided by the light guide unit,
The light detection unit LiDAR device, characterized in that for detecting the received light condensed by the second condensing lens.
The method of claim 1,
The lens unit LiDAR device, characterized in that at least two or more wide-angle lenses are arranged in a line in the vertical direction.
delete a light source for generating a source light;
a rotating mirror rotatably disposed on the optical path of the source light, the direction of the reflective surface is temporally variable, and the direction of the source light is changed temporally to reflect upwardly as scan light;
a lens unit disposed on the rotating mirror to extend the angle at which the scan light is emitted to the front of the lidar device, and downwardly refracts the received light that is reflected by the external reflector and returned to the scan light;
a light guide unit for guiding the received light refracted by the lens unit;
a light detection unit detecting the received light guided by the light guide unit; and
The lidar device including a rear-reflecting mirror disposed adjacent to the lens unit and curved to emit the scan light incident thereto to the rear of the lidar device.
11. The method of claim 10,
The rotating mirror, the lens unit, the light guide unit and the light detection unit LiDAR device, characterized in that disposed on a straight line.
11. The method of claim 10,
The light guide unit includes an incident unit to which the received light is incident, and an output unit through which the received light incident to the light guide unit is emitted, and the interior of the lidar device is hollow.
13. The method of claim 12,
The light guide portion LiDAR device, characterized in that the cross-sectional area gradually decreases from the incident portion to the exit portion.
14. The method of claim 13,
The lidar device further comprising a sub-light guide part abutting on the upper side of the light guide part, and having a hollow inside.
15. The method of claim 14,
The sub light guide portion LiDAR device, characterized in that the cross-sectional area gradually decreases from the lower side to the upper side.
11. The method of claim 10,
Further comprising a condensing lens for condensing the received light guided by the light guide unit,
The light detection unit LiDAR device, characterized in that for detecting the received light condensed by the condensing lens.
11. The method of claim 10,
The lens unit LiDAR device, characterized in that at least two or more wide-angle lenses are arranged in a line in the vertical direction.
11. The method of claim 10,
The light source is disposed on one side of the light guide part, the rotating mirror is disposed inside the light guide part, and the light guide part is on the optical path of the source light so that the optical path of the source light generated from the light source is not blocked. A lidar device, characterized in that the source light transmitting portion is formed.
11. The method of claim 10,
The light source is disposed on one side of the light guide part, the rotating mirror is disposed at a position opposite to one side of the light guide part, and the light guide part is on the optical path of the scan light so that the optical path of the scan light is not blocked. A lidar device, characterized in that the scan light transmitting portion is formed.
20. The method of claim 19,
The source light generated from the light source is reflected by the light guide unit, it characterized in that the lidar device is incident on the rotating mirror.
delete a light source for generating a source light;
a rotating mirror rotatably disposed on the optical path of the source light, the direction of the reflective surface is temporally variable, and the direction of the source light is changed temporally to reflect upwardly as scan light;
a lens unit disposed on the rotating mirror to extend the angle at which the scan light is emitted to the front of the lidar device, and downwardly refracts the received light that is reflected by the external reflector and returned to the scan light;
a light guide unit for guiding the received light refracted by the lens unit; and
and a light detection unit for detecting the received light guided by the light guide unit,
The light source is disposed on one side of the light guide part, the rotating mirror is disposed inside the light guide part, and the light guide part is on the optical path of the source light so that the optical path of the source light generated from the light source is not blocked. A lidar device, characterized in that the source light transmitting portion is formed.

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