LIDAR correction device and method

Abstract

An embodiment discloses a LiDAR correction device, the LiDAR correction device comprising: a first reflection unit for reflecting an optical signal emitted by an output unit of the LiDAR device; a second reflection unit for reflecting the optical signal reflected from the first reflection unit; and a moving unit connected to the first reflecting unit and the second reflecting unit, in which the moving unit moves the first reflecting unit and the second reflecting unit in a first direction in which the optical signal is emitted or a second direction perpendicular to the first direction.

Description

Technical Field

[0001] The embodiments relate to a LiDAR calibration device and method. Specifically, the embodiments relate to a method of using a reflection unit and a diffusion unit to reduce the minimum measurable distance of a LiDAR device. Background Art

[0002] Light Detection and Ranging (LiDAR) systems are applied to various fields such as aerospace, geology, 3D mapping, transportation, robotics, drones, etc.

[0003] Generally, the distance measurement system of LiDAR scans space while rotating a two-dimensional distance sensor for scanning a flat surface, and the two-dimensional distance sensor is located at the center of the flat surface. Devices applying a two-dimensional photodiode array use structured light or Time-of-Flight (ToF) to measure distance.

[0004] The ToF measurement method measures the time difference or phase difference and converts the measured time difference or phase difference into distance, while the structured light measurement method calculates depth by projecting a unique pattern and detecting corresponding points. For example, a LiDAR device can emit light toward a target, receive the light through a sensor, and measure the ToF using a high-speed circuit. In addition, the LiDAR device can calculate the distance to the target according to the ToF and generate a depth image of the target using the distances calculated for each position of the target.

[0005] Before performing the distance measurement of a LiDAR device, a process of calibrating the distance of the LiDAR device using a LiDAR calibration device is required. The LiDAR calibration device compares the distance measurement result of the LiDAR device with the actual distance and checks the difference between the two.

[0006] However, in the case of calibrating the LiDAR distance, the minimum measurable distance of the LiDAR device is also used to determine the minimum measurable distance. Therefore, generally, in the case of a long-distance LiDAR device, when calibrating the distance, the minimum distance is determined to be several tens of meters (m). In this case, the space required for distance calibration will also be several tens of meters (m). Therefore, in order to calibrate a LiDAR device, a space equivalent to the measurable distance is required. Therefore, there is a problem that calibrating a LiDAR device requires a very large space. Summary of the Invention Technical Problem

[0007] Embodiments of the present invention aim to provide a LiDAR distance calibration device and method for calibrating distance at a short distance through multiple reflection units.

[0008] In addition, an embodiment aims to provide a LiDAR calibration device and a method of using the LiDAR calibration device, which allows for easy distance change by a moving unit, a rotating unit, and multiple devices arranged in the same space.

[0009] In addition, an embodiment aims to provide a LiDAR distance calibration device and a method of using the LiDAR calibration device. Since the LiDAR calibration device has a diffusion unit, etc., even if the height of the space (e.g., the length in the third direction) is small, it allows for evaluation (or calibration) through all pixels, and due to the reduced size, the manufacturing cost of the LiDAR calibration device is reduced.

[0010] The purpose of the embodiment is not limited to this, and it may also include purposes or effects that can be identified from the configurations or embodiments to be described below. Technical solution

[0011] A light detection and ranging (LiDAR) calibration device according to an embodiment includes: a first reflection unit configured to reflect an optical signal emitted by an output unit of a LiDAR device; a second reflection unit configured to reflect the optical signal reflected from the first reflection unit; and a moving unit connected to the first reflection unit and the second reflection unit, wherein the moving unit moves the first reflection unit and the second reflection unit in a first direction in which the optical signal is emitted or in a second direction perpendicular to the first direction.

[0012] The LiDAR calibration device may include a rotating unit provided on the moving unit and connected to the first reflection unit and the second reflection unit.

[0013] The rotating unit may rotate at least one of the first reflection unit and the second reflection unit with respect to a third direction, and the third direction may be a direction perpendicular to the first direction and the second direction.

[0014] The moving unit may include a first moving member connected to the first reflection unit and a second moving member connected to the second reflection unit.

[0015] The rotating unit may include a first rotating unit connected to the first reflection unit and a second rotating unit connected to the second reflection unit.

[0016] The first reflection unit and the second reflection unit may be arranged in parallel.

[0017] The first reflection unit and the second reflection unit may be arranged at different distances from the output unit in the first direction.

[0018] The length between the first reflection unit and the output unit in the first direction can be greater than the length between the second reflection unit and the output unit in the first direction.

[0019] The second reflection unit can reflect the optical signal reflected from the first reflection unit back to the first reflection unit, and the first reflection unit can reflect the optical signal reflected from the second reflection unit to the receiving unit of the LiDAR device.

[0020] The second reflection unit can include a mirror or a target chart.

[0021] The LiDAR calibration device can include a third reflection unit that is arranged to be spaced apart from the first reflection unit in the second direction.

[0022] The length between the third reflection unit and the output unit in the first direction can be equal to the length between the first reflection unit and the output unit in the first direction.

[0023] The third reflection unit can be arranged on the first moving member.

[0024] The first reflection unit and the third reflection unit can overlap each other in the second direction.

[0025] The LiDAR calibration device can include a chart unit that is arranged to be spaced apart from the second reflection unit in the second direction.

[0026] The chart unit and the second reflection unit can be arranged at the same distance from the output unit in the first direction.

[0027] The second reflection unit can reflect the optical signal to the third reflection unit, the third reflection unit can reflect the optical signal to the chart unit, and the chart unit can reflect the optical signal to the third reflection unit.

[0028] The LiDAR calibration device can include a diffusion unit that is arranged on the path of the optical signal output from the output unit or the optical signal received by the receiving unit of the LiDAR device.

[0029] A method for calibrating a light detection and ranging (LiDAR) according to an embodiment can include adjusting the position or angle of the first reflection unit and the second reflection unit, emitting an optical signal from the output unit of the LiDAR device to the first reflection unit, and reflecting the optical signal in the order of the first reflection unit, the second reflection unit, and the first reflection unit, and receiving the reflected optical signal by the receiving unit of the LiDAR device. The first reflection unit and the second reflection unit can be arranged in parallel.

[0030] The first reflection unit and the second reflection unit can be arranged to be spaced apart from each other in the first direction in which the optical signal is emitted.

[0031] A light detection and ranging (LiDAR) calibration device according to an embodiment includes: a first reflection unit configured to reflect an optical signal emitted by an output unit of a LiDAR device; and a second reflection unit configured to reflect the optical signal reflected from the first reflection unit, wherein the first reflection unit and the second reflection unit are arranged at a predetermined angle with respect to a second direction perpendicular to a first direction in which the output unit emits the optical signal, and the first reflection unit and the second reflection unit may be arranged in parallel.

[0032] The first reflection unit and the second reflection unit of the LiDAR calibration device according to an embodiment may be arranged at different distances from the output unit in the first direction.

[0033] The first reflection unit and the second reflection unit of the LiDAR calibration device according to an embodiment may be arranged at different distances from the output unit in the first direction.

[0034] The second reflection unit of the LiDAR calibration device according to an embodiment may reflect the optical signal reflected from the first reflection unit to the first reflection unit, and the first reflection unit may reflect the optical signal reflected from the second reflection unit to a receiving unit of the LiDAR device.

[0035] The LiDAR calibration device according to an embodiment may include a third reflection unit arranged in parallel with the second direction, and a chart unit arranged at a predetermined angle with respect to the second direction, wherein the third reflection unit and the first reflection unit may be arranged at the same distance from the output unit in the first direction, the chart unit and the second reflection unit may be arranged at the same distance from the output unit in the first direction, and the second reflection unit may be arranged in parallel with the second direction.

[0036] The second reflection unit of the LiDAR calibration device according to an embodiment may reflect the optical signal to the third reflection unit, the third reflection unit may reflect the optical signal to the chart unit, and the chart unit may reflect the optical signal to the third reflection unit.

[0037] The first reflection unit of the LiDAR calibration device according to an embodiment may be arranged at a distance that is half of the minimum measurement distance of the LiDAR device in the first direction, and the second reflection unit and the output unit may be arranged at the same position in the second direction.

[0038] The first reflection unit and the third reflection unit of the LiDAR calibration device according to an embodiment may be arranged at a distance that is one-fourth of the minimum measurement distance of the LiDAR device in the first direction, and the second reflection unit, the chart unit, and the output unit may be arranged at the same position in the second direction.

[0039] The LiDAR calibration device according to an embodiment may include n (n is a positive integer) reflection units configured to reflect optical signals. Among them, the reflection units with even numbers and the output unit may be disposed at the same position in a second direction perpendicular to a first direction in which the output unit of the LiDAR device emits optical signals. The reflection units with odd numbers may be disposed to be spaced apart from the reflection units with even numbers in the first direction. The reflection units with odd numbers and the reflection units with even numbers may be disposed at the same position in the second direction. The centers of the n reflection units may be disposed at regular intervals along the second direction. The first reflection unit and the nth reflection unit among the n reflection units may be disposed at a predetermined angle with respect to the second direction and be parallel to each other.

[0040] The first reflection unit, the nth reflection unit, and the second to the (n - 1)th reflection units of the LiDAR calibration device according to an embodiment may not be parallel to each other.

[0041] The first reflection unit of the LiDAR calibration device according to an embodiment may reflect the optical signal emitted by the output unit. The ith reflection unit among the n reflection units may reflect the optical signal to the (i - 1)th reflection unit or the (i + 1)th reflection unit (i is an integer greater than or equal to 1 and less than or equal to n).

[0042] The first reflection unit of the LiDAR calibration device according to an embodiment may include a diffusion unit configured to reflect the optical signal reflected by the second reflection unit to the receiving unit of the LiDAR device and diffuse the optical signal within the viewing angle of the receiving unit.

[0043] The diffusion unit of the LiDAR calibration device according to an embodiment may be disposed on the path of the optical signal output from the output unit or the optical signal received by the receiving unit.

[0044] A LiDAR calibration method according to an embodiment may include: emitting an optical signal from the output unit of the LiDAR device to the first reflection unit; reflecting the optical signal from the first reflection unit to the second reflection unit; reflecting the optical signal from the second reflection unit to the first reflection unit; reflecting the optical signal from the first reflection unit back to the receiving unit of the LiDAR device; and receiving the reflected optical signal by the receiving unit, wherein the first reflection unit and the second reflection unit may be parallel to each other.

[0045] In the LiDAR calibration method according to an embodiment, the first reflection unit and the second reflection unit may be arranged at a predetermined angle with respect to a second direction perpendicular to the first direction in which the output unit emits an optical signal. The first reflection unit and the second reflection unit may be arranged at different distances from the output unit in the first direction, and the centers of the first reflection unit and the second reflection unit may be arranged at different distances from the output unit in the second direction.

[0046] The LiDAR calibration method according to an embodiment may include: reflecting an optical signal from the second reflection unit to the third reflection unit; reflecting the optical signal from the third reflection unit to the chart unit; reflecting the optical signal from the chart unit back to the third reflection unit; and reflecting the optical signal from the third reflection unit back to the third reflection unit.

[0047] In the LiDAR calibration method according to an embodiment, the third reflection unit may be arranged parallel to the second direction, the chart unit may be arranged at a predetermined angle with respect to the second direction, the third reflection unit and the first reflection unit may be arranged at the same distance from the output unit in the first direction, the chart unit and the second reflection unit may be arranged at the same distance from the output unit in the first direction, and the second reflection unit may be arranged parallel to the second direction.

[0048] The LiDAR calibration method according to an embodiment may include diffusing the optical signal reflected from the first reflection unit by a diffusion unit, and the diffusion unit may be arranged at a position where the diffused optical signal may include the entire viewing angle of the receiving unit.

[0049] The diffusion unit of the LiDAR calibration device according to an embodiment may be arranged on the path of the optical signal output from the output unit or received by the receiving unit. Advantageous Effects

[0050] According to an embodiment of the present invention, a LiDAR distance calibration device and method capable of calibrating a distance at a short distance through multiple reflection units can be realized.

[0051] According to an embodiment, a LiDAR calibration device capable of easily changing a distance through a moving unit and a rotating unit and a method of using the LiDAR calibration device in which multiple devices can be arranged in the same space can be realized.

[0052] According to an embodiment, a LiDAR distance calibration device and a method of using the LiDAR calibration device can be realized. Since the LiDAR distance calibration device has a diffusion unit and the like, even if the height of the space (for example, the length in the third direction) is small, evaluation (or calibration) can be performed through all pixels, and since the size is reduced, the manufacturing cost of the LiDAR calibration device is reduced.

[0053] According to an embodiment, distance calibration of a LiDAR device can be performed over a short distance.

[0054] In addition, while performing distance calibration of the LiDAR device, multiple devices can be arranged in the same space.

[0055] In addition, since the size of the LiDAR calibration device can be reduced, manufacturing costs can be lowered.

[0056] The various beneficial advantages and effects of the present invention are not limited to the above description and will be more easily understood during the description of specific embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 is a configuration diagram of a LiDAR device according to an embodiment.

[0058] Figure 2 is an image showing the minimum measurement distance of a LiDAR device according to an embodiment.

[0059] Figure 3 is a conceptual diagram of a LiDAR calibration device according to a first embodiment.

[0060] Figure 4 is a conceptual diagram of a LiDAR calibration device according to a second embodiment.

[0061] Figure 5 is a conceptual diagram of a LiDAR calibration device according to a third embodiment.

[0062] Figure 6 is a conceptual diagram of a diffusion unit of a LiDAR calibration device according to an embodiment.

[0063] Figure 7 is a conceptual diagram of a LiDAR calibration device according to a fourth embodiment.

[0064] Figure 8 is for describing the movement of a movable unit according to Figure 7 is a view of the movement of the movable unit.

[0065] Figure 9 is a conceptual diagram of a LiDAR calibration device according to a fifth embodiment.

[0066] Figure 10 is a conceptual diagram of a LiDAR calibration device according to a sixth embodiment.

[0067] Figure 11 is a flowchart of a LiDAR calibration method according to an embodiment.

[0068] Figure 12It is a flowchart of a LiDAR calibration method according to another embodiment. Detailed implementation manners

[0069] Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0070] However, the technical spirit of the present invention is not limited to the described embodiments, but can be implemented in various different forms, and one or more of the components in the embodiments can be selectively coupled or replaced without departing from the scope of the technical spirit of the present invention.

[0071] In addition, unless explicitly and specifically defined and described, the terms (including technical terms and scientific terms) used in the embodiments of the present invention can be understood as having the meanings that can be generally understood by those skilled in the art to which the present invention belongs, and the meanings of general terms such as the terms defined in the dictionary can be understood by considering the context meanings of the related technologies.

[0072] In addition, the terms used in the embodiments of the present invention are for describing the embodiments and are not intended to limit the present invention.

[0073] In this specification, unless otherwise specified in the phrase, the singular form may include the plural form, and when described as "at least one (or one or more) of A, B, and C", it may include one or more of all possible combinations of A, B, and C.

[0074] In addition, terms such as "first", "second", "A", "B", "(a)", and "(b)" can be used to describe the components of the embodiments of the present invention.

[0075] These terms are only used to distinguish one component from another component, and the nature, sequence, order, etc. of the corresponding components are not limited by these terms.

[0076] In addition, when a certain component is described as "connected", "coupled", or "joined" to another component, this may include the case where the component is directly connected, coupled, or joined to the other component, and may also include the case where the component is "connected", "coupled", or "joined" to the other component through other components existing between the component and the other component.

[0077] In addition, when a component is described as being formed or disposed "on (above)" or "under (below)" another component, "on (above)" or "under (below)" may include not only the case where the two components are in direct contact with each other, but also the case where one or more other components are formed or disposed between the two components. In addition, when described as "on (above)" or "under (below)", this may include not only the meaning based on the upward direction of one component, but also the meaning based on the downward direction of one component.

[0078] Figure 1 is a configuration diagram of a light detection and ranging (LiDAR) device according to an embodiment.

[0079] The LiDAR device 100 according to an embodiment of the present invention may be an information generation device that is installed on a vehicle to measure the distance between the vehicle and an object and generate distance information, but is not limited thereto. The LiDAR device 100 according to an embodiment of the present invention may be a LiDAR camera. The LiDAR device 100 according to an embodiment of the present invention may extract a depth map using the time-of-flight (ToF) principle. In this specification, the LiDAR device may be referred to as a depth map generation device or a camera device.

[0080] Referring to Figure 1 , the LiDAR device 100 according to an embodiment may include an output unit 110, a receiving unit 120, a detection unit 130, an interference unit 140, a depth map generation unit 150, and a control unit 160. Only the components of the LiDAR device 100 related to this embodiment are shown in the figure. Therefore, it is obvious to those skilled in the art that, in addition to Figure 1 the components shown, the LiDAR device 100 may further include other conventional components.

[0081] The LiDAR device 100 may be a frequency-modulated continuous wave (FMCW) LiDAR. In addition, the LiDAR device 100 may use a point scanning method, so that the intensity of the light received by the detection unit 130 may be lower compared to the intensity of the light in other methods (e.g., flash method). Therefore, an avalanche photodiode (APD) or a single-photon avalanche diode (SPAD) with high sensing sensitivity may be employed as the detection unit 130. A specific circuit configuration (such as an analog front end (AFE), a time-to-digital converter (TDC), etc.) may vary depending on which light receiving element, APD or SPAD, is included in the detection unit 130.

[0082] The output unit 110 of the LiDAR device 100 according to an embodiment may output and transmit an optical signal.

[0083] The output unit 110 may include a light source, such as an edge-emitting laser, a vertical-cavity surface-emitting laser (VCSEL), a distributed-feedback laser, a light-emitting diode (LED), a superluminescent diode (SLD), etc. The output unit 110 may generate and emit light of multiple different bands. The output unit 110 may generate pulsed light or continuous light. The continuous light may be in the form of a sine wave or a square wave. By generating an output optical signal in the form of pulsed light or continuous light, the LiDAR device 100 may detect the time difference or phase difference between the output optical signal output from the output unit 110 and the input optical signal input to the receiving unit 120 after being reflected from an object.

[0084] The receiving unit 120 of the LiDAR device 100 according to an embodiment may receive a light signal reflected from an object.

[0085] The receiving unit 120 may include an image sensor, a filter disposed on the image sensor, and a lens group disposed on the filter. The optical signal reflected from the object may pass through the lens group. The optical axis of the lens group may be aligned with the optical axis of the image sensor. The filter may be disposed between the lens group and the image sensor. The filter may be disposed on the optical path between the object and the image sensor. Light having a predetermined wavelength range may pass through the filter. Light of a specific band may pass through the filter. The filter may transmit light having a specific wavelength. For example, light in the infrared band may pass through the filter, and the filter may block light other than light in the infrared band. The image sensor may detect light. The image sensor may receive the optical signal. The image sensor may detect the optical signal and output the detected optical signal as an electrical signal. The image sensor may detect light having a wavelength corresponding to the wavelength of the light output from the light source. For example, the image sensor may detect light in the infrared band. Here, the image sensor may correspond to the detection unit 130 of the LiDAR device 100.

[0086] Figure 2 is an image showing the minimum measurement distance of the LiDAR device according to an embodiment.

[0087] Reference Figure 2 , the minimum measurement distance of the LiDAR device 100 may be determined by the viewing angles of the output unit 110 and the receiving unit 120 of the LiDAR device 100.

[0088] The perspectives of the output unit 110 and the receiving unit 120 refer to the range within which optical signals can be transmitted or received. In addition, since the output unit 110 and the receiving unit 120 are set to be spaced apart from each other by a predetermined distance, there is a minimum measurement distance at which an optical signal output from the output unit 110 can be reflected from an object and return to the receiving unit 120. Even if the optical signal is reflected from an object located at a closer distance than the corresponding minimum measurement distance, the receiving unit 120 cannot receive the corresponding optical signal, thereby making it impossible to collect information about the object.

[0089] In the case of a general LiDAR device 100, the minimum measurement distance can be determined to be several tens of meters. For example, when the measurable distance of the LiDAR device 100 is 200 meters, the minimum measurement distance of the LiDAR device 100 can be 20 meters.

[0090] The minimum corrigible distance of the LiDAR calibration device can be determined based on the minimum measurement distance of the LiDAR device 100. When the object is located within the minimum measurement distance, it is impossible to measure with the LiDAR device 100, and ultimately it is also impossible to perform distance calibration using the distance measurement of the LiDAR device 100.

[0091] Figure 3 is a conceptual diagram of a LiDAR calibration device according to the first embodiment.

[0092] The calibration method of the LiDAR calibration device can be a method as follows: The receiving unit receives an optical signal that is emitted by the output unit of the LiDAR device to a target chart (or a reflecting member such as a mirror) and reflected to generate distance information, compares the generated distance information with the actual distance, and corrects the distance of the LiDAR device. This description also applies to all the following embodiments.

[0093] Reference Figure 3 , the LiDAR calibration device 200 according to an embodiment may include a first reflection unit 210 and a second reflection unit 220. In addition, the LiDAR calibration device 200 may include a processor or a control unit, as will be described below. In addition, the LiDAR calibration device 200 may include a workbench on which the LiDAR device 100 to be calibrated or tested is mounted. The following description will be based on the LiDAR device installed in the LiDAR calibration device.

[0094] The LiDAR calibration device 200 according to an embodiment may include a first reflection unit 210 that reflects an optical signal emitted by an output unit 110 of the LiDAR device 100, and a second reflection unit 220 that reflects the optical signal reflected by the first reflection unit 210. Herein, the first reflection unit 210 and the second reflection unit 220 may be disposed at a predetermined angle with respect to a second direction that is perpendicular to a first direction in which the output unit 110 emits the optical signal, and the first reflection unit 210 and the second reflection unit 220 may be disposed in parallel.

[0095] The first reflection unit 210 and the second reflection unit 220 may be reflection members or reflectors that reflect light. The first reflection unit 210 and the second reflection unit 220 according to an embodiment may be rectangular mirrors. However, the type of the reflection unit is not limited. In addition, the shape, size, or thickness of the reflection unit is not limited.

[0096] The output unit 110 of the LiDAR device 100 according to an embodiment may emit an optical signal toward the first reflection unit 210. The first reflection unit 210 may be disposed within a viewing angle range in which the output unit 110 emits the optical signal. The first reflection unit 210 may reflect the optical signal emitted by the output unit toward the second reflection unit 220. The second reflection unit 220 may be disposed within a viewing angle range of the optical signal reflected by the first reflection unit.

[0097] The first reflection unit 210 and the second reflection unit 220 may be disposed at a predetermined angle with respect to a second direction that is perpendicular to a first direction in which the output unit 110 emits the optical signal. For example, the first reflection unit 210 and the second reflection unit 220 may have an angle θ1 with respect to the second direction that is perpendicular to the first direction in which the output unit 110 emits the optical signal. The magnitude of this angle may vary according to the sizes of the first reflection unit 210 and the second reflection unit 220, but is not limited thereto.

[0098] The first reflection unit may first reflect the optical signal output from the output unit 110 of the LiDAR device 100. In this embodiment, the first reflection unit may correspond to the first reflection unit 210. In addition, the first reflection unit may receive light from the same member and reflect the light. In this embodiment, the last reflection unit may correspond to the second reflection unit 220. For example, the second reflection unit 220 may receive the optical signal from the first reflection unit 210 and reflect the light back to the first reflection unit 210. In the LiDAR calibration device according to this embodiment and other subsequent embodiments, the first reflection unit and the last reflection unit may be disposed in parallel. In the LiDAR calibration device 300 according to this embodiment, the first reflection unit 210 and the second reflection unit 220 may be disposed in parallel.

[0099] By arranging the first reflection unit 210 and the second reflection unit 220 in parallel, the optical signal reflected from the second reflection unit 220 can return and reach the first reflection unit 210.

[0100] The centers of the first reflection unit 210 and the second reflection unit 220 of the LiDAR calibration device 200 according to the embodiment can be set at different distances from the output unit 110 in the second direction. In addition, the first reflection unit 210 may not overlap with the second reflection unit 220 in the second direction. Alternatively, the first reflection unit 210 may be arranged to be offset from the second reflection unit 220 in the second direction. In addition, the first reflection unit 210 may be arranged to be spaced apart from the second reflection unit 220 in the first direction and the second direction. Therefore, the actual distance can be changed by the spacing distance between the first reflection unit and the last reflection unit. That is, calibration of the LiDAR device 100 can be performed.

[0101] Specifically, the first reflection unit 210 and the second reflection unit 220 of the LiDAR calibration device 200 according to the embodiment can be set at different distances from the output unit in the first direction.

[0102] For example, the first reflection unit 210 according to the embodiment can be set at a distance a1 from the output unit 110 in the first direction. In addition, the second reflection unit 220 according to the embodiment can be set at a distance from the output unit 110 other than a1 in the first direction. For example, the second reflection unit 220 and the output unit 110 can be set at the same distance in the first direction. In this case, the distance between the first reflection unit 210 and the second reflection unit 220 in the first direction can be a1. The centers of the first reflection unit 210 and the second reflection unit 220 of the LiDAR calibration device 200 according to the embodiment can be set at different distances from the output unit 110 in the second direction.

[0103] For example, the second reflection unit 220 according to the embodiment can be set at a distance b1 from the output unit 110 in the second direction. In addition, the first reflection unit 210 according to the embodiment can be set at a distance from the output unit 110 other than b1 in the second direction. For example, the first reflection unit 210 and the output unit 110 can be set at the same distance in the second direction. In this case, the distance between the first reflection unit 210 and the second reflection unit 220 in the second direction can be b1.

[0104] The second reflection unit 220 of the LiDAR calibration device 200 according to an embodiment may reflect the optical signal reflected from the first reflection unit 210 back to the first reflection unit 210, and the first reflection unit 210 may reflect the optical signal reflected from the second reflection unit 220 to the receiving unit 120 of the LiDAR device 100.

[0105] The second reflection unit 220 may reflect the optical signal reflected from the first reflection unit 210 back to the first reflection unit 210. In addition, the first reflection unit 210 may reflect the optical signal reflected from the second reflection unit 220 to the receiving unit 120 of the LiDAR device 100.

[0106] Accordingly, according to the present embodiment, the optical signal emitted from the output unit 110 may be transmitted to the first reflection unit 210, reflected to the second reflection unit 220, reflected back to the first reflection unit 210, and received by the receiving unit 120. The receiving unit 120 receives the optical signal, and the depth map generation unit of the LiDAR device 100 generates a depth map of the optical signal. By comparing the detection distance data of the depth map with the distance information of the actual target (the second reflection unit), the LiDAR device may be calibrated. In this case, the first reflection unit 210 may be disposed at a distance that is half of the minimum measurement distance of the LiDAR device 100, thereby minimizing the minimum measurement distance to half of it to the greatest extent. Accordingly, the LiDAR device may be calibrated at a short distance. For example, the LiDAR calibration devices 200, 300, and 400 according to an embodiment may not include the LiDAR device 100. The LiDAR device 100 may be disposed inside the LiDAR calibration devices 200, 300, and 400 and used in the implementation of the LiDAR calibration devices 200, 300, and 400, but the LiDAR device 100 does not correspond to an essential component of the LiDAR calibration devices 200, 300, and 400.

[0107] Figure 4 is a conceptual diagram of a LiDAR calibration device according to a second embodiment.

[0108] Reference Figure 4, the LiDAR calibration device 300 according to the embodiment may further include a third reflection unit 330 disposed parallel to the second direction and a chart unit 340 disposed at a predetermined angle with respect to the second direction. Among them, the third reflection unit 330 and the first reflection unit 310 may be disposed at the same distance from the output unit 110 in the first direction, the chart unit 340 and the second reflection unit 320 may be disposed at the same distance from the output unit 110 in the first direction, and the second reflection unit 320 may be disposed parallel to the second direction. Hereinafter, the chart unit 340 and the fourth reflection unit 340 can be used interchangeably. In addition, in this embodiment, the first reflection unit corresponds to the first reflection unit. In addition, the last reflection unit corresponds to the fourth reflection unit or the chart unit. The chart unit can be used interchangeably with the fourth reflection unit, the target unit, the target chart unit, etc.

[0109] The third reflection unit 330 and the fourth reflection unit 340 may be reflection members that reflect light, such as the first reflection unit 310 and the second reflection unit 320. The third reflection unit 330 and the fourth reflection unit 340 according to the embodiment may be rectangular mirrors. However, the type of the reflection unit is not limited. In addition, the shape, size, or thickness of the reflection unit is not limited.

[0110] The second reflection unit 320 according to the embodiment may reflect the optical signal to the third reflection unit 330, the third reflection unit 330 may reflect the optical signal to the chart unit 340, and the chart unit 340 may reflect the optical signal to the third reflection unit 330.

[0111] The second reflection unit 320 according to the embodiment may be disposed parallel to the second direction to reflect the optical signal reflected from the first reflection unit 310 to the third reflection unit 330. The third reflection unit 330 may be disposed parallel to the second direction to reflect the optical signal reflected from the second reflection unit 320 to the chart unit 340. The chart unit 340 may reflect the optical signal reflected from the third reflection unit 330 back to the third reflection unit 330. The third reflection unit 330 may reflect the optical signal back to the second reflection unit 320, the second reflection unit 320 may reflect the optical signal back to the first reflection unit 310, and the first reflection unit 310 may reflect the optical signal back to the receiving unit 120.

[0112] The first reflection unit 310 and the map unit 340 can be arranged in parallel. In this case, the first reflection unit 310 and the map unit 340 can be arranged to be spaced apart from each other in the first direction. In addition, the first reflection unit 310 and the map unit 340 can face each other and have different reflection directions or different reception directions with respect to the optical signal. The first reflection unit 310 receives the optical signal in the rightward direction in the drawing, while the map unit 340 receives the optical signal in the leftward direction in the drawing. For example, the reception directions of the optical signals of the first reflection unit 310 and the map unit 340 can be opposite or symmetric to the second direction.

[0113] In addition, the first reflection unit 310 and the map unit 340 can be arranged at a predetermined angle with respect to the second direction. For example, the first reflection unit 310 and the map unit 340 can be arranged at an angle θ with respect to the second direction perpendicular to the first direction in which the output unit 110 emits the optical signal. 2。 The magnitude of this angle can vary according to the sizes of the first reflection unit 310 and the map unit 340, but is not limited thereto.

[0114] The third reflection unit 330 and the first reflection unit 310 can be arranged at the same distance from the output unit 110 in the first direction. For example, the third reflection unit 330 and the first reflection unit 310 according to the embodiment can be arranged at a distance a2 from the output unit 110 in the first direction.

[0115] The map unit 340 and the second reflection unit 320 can be arranged at the same distance from the output unit 110 in the first direction. The second reflection unit 220 can be arranged at a distance from the output unit 110 other than a1 in the first direction. For example, the map unit 340 and the second reflection unit 320 can be arranged at the same distance from the output unit 110 in the first direction. In this case, the distance between the first reflection unit 310 and the map unit 340 or the second reflection unit 320 in the first direction can be a2.

[0116] In addition, the reflection units other than the first reflection unit and the last reflection unit (map unit) among the plurality of reflection units can be arranged in parallel. For example, the reflection units other than the first reflection unit and the last reflection unit (map unit) among the plurality of reflection units can be arranged in parallel in the second direction. In addition, the reflection units other than the first reflection unit and the last reflection unit (map unit) among the plurality of reflection units can be arranged at an angle different from that of the first reflection unit and the last reflection unit (map unit) with respect to the second direction. This description can be applied in the same way to the LiDAR calibration device according to other embodiments.

[0117] The centers of the first reflection unit 310 to the third reflection unit 330 and the card unit 340 according to the embodiment may be set at different distances from the output unit 110 in the second direction and have regular intervals.

[0118] For example, the second reflection unit 220 according to the embodiment may be set at a distance b1 from the output unit 110 in the second direction. In addition, the first reflection unit 210 according to the embodiment may be set at a distance from the output unit 110 other than b1 in the second direction. For example, the first reflection unit 210 and the output unit 110 may be set at the same distance in the second direction. In this case, the distance between the first reflection unit 210 and the second reflection unit 220 in the second direction may be b 1。 In addition, the distance between the third reflection unit 330 and the second reflection unit 320 according to the embodiment in the second direction may be b1. In addition, the distance between the card unit 340 and the third reflection unit 330 according to the embodiment in the second direction may be b1.

[0119] Therefore, according to the embodiment, the optical signal can be received by the receiving unit 120 from the output unit 110 through the first reflection unit 310, the second reflection unit 320, the third reflection unit 330, the card unit 340, the third reflection unit 330, the second reflection unit 320, and the first reflection unit 310. The receiving unit 120 receives the optical signal, and the depth map generation unit of the LiDAR device 100 generates a depth map of the optical signal. By comparing the detection distance data of the depth map with the distance information of the actual target (card unit), the LiDAR device can be calibrated. In this case, the first reflection unit 310 and the third reflection unit 330 may be set at a quarter of the minimum measurement distance of the LiDAR device 100, so as to minimize the minimum measurement distance to a quarter of it. Therefore, the LiDAR device can be calibrated at a short distance.

[0120] Figure 5 is a conceptual diagram of a LiDAR calibration device according to the third embodiment.

[0121] Reference Figure 5, the LiDAR calibration device 400 according to an embodiment may include n (n is a positive integer) reflection units for reflecting optical signals. Among them, the reflection units with even numbers and the output unit 110 may be at the same position in the second direction, which is perpendicular to the first direction in which the output unit 110 of the LiDAR device 100 emits optical signals. The reflection units with odd numbers may be arranged to be spaced apart from the reflection units with even numbers in the first direction. The reflection units with odd numbers and the reflection units with even numbers may be at the same position in the second direction. The centers of the n reflection units may be arranged at regular intervals in the second direction, and the first reflection unit and the nth reflection unit among the n reflection units may be arranged to have a predetermined angle with respect to the second direction and be parallel to each other.

[0122] The reflection units with odd numbers may be arranged to be spaced apart from the reflection units with even numbers in the first direction, and the reflection units with odd numbers and the reflection units with even numbers may be at the same position in the second direction. For example, the reflection units with odd numbers according to an embodiment may be arranged at a distance a3 from the reflection units with even numbers in the first direction. In addition, the centers of the n reflection units may be arranged at regular intervals in the second direction. For example, the centers of the n reflection units according to an embodiment may be arranged at a distance b3 in the second direction. In addition, the first reflection unit and the nth reflection unit may be arranged to have a predetermined angle with respect to the second direction and be parallel to each other. For example, the first reflection unit and the nth reflection unit according to an embodiment may be arranged to have an angle θ3 with respect to the second direction.

[0123] The first reflection unit, the nth reflection unit, and the second to the (n - 1)th reflection units of the LiDAR calibration device 400 according to an embodiment may not be parallel to each other.

[0124] The first reflection unit of the LiDAR calibration device 400 according to an embodiment may reflect the optical signal emitted by the output unit, and the ith reflection unit among the n reflection units may reflect the optical signal to the (i - 1)th reflection unit or the (i + 1)th reflection unit (i is an integer greater than or equal to 1 and less than or equal to n).

[0125] According to an embodiment, the optical signal emitted from the output unit 110 can be transmitted to reach the first reflection unit, reflected to the second reflection unit, reflected to the third reflection unit, reflected to the nth reflection unit, reflected back to the first reflection unit, and received by the receiving unit 120. The receiving unit 120 receives the optical signal, and the depth map generation unit of the LiDAR device 100 generates a depth map of the optical signal. By comparing the detection distance data of the depth map with the distance information of the actual target (chart unit), the LiDAR device can be calibrated. In this case, the odd-numbered reflection units can be set at 1 / n of the minimum measurement distance of the LiDAR device 100, thereby minimizing the minimum measurement distance to 1 / n of it to the greatest extent. Thus, the LiDAR device can be calibrated at a short distance.

[0126] Figure 6 is a conceptual diagram of the diffusion unit of the LiDAR calibration device according to an embodiment.

[0127] Reference Figure 6 , according to an embodiment, the first reflection unit of the LiDAR calibration device can reflect the optical signal reflected from the second reflection unit to the receiving unit 120 of the LiDAR device 100, and the LiDAR calibration device can include a diffusion unit 170 for diffusing the optical signal within the viewing angle of the receiving unit 120.

[0128] The diffusion unit 170 of the LiDAR calibration device according to an embodiment can be disposed on the path of the optical signal output from the output unit 110 or received by the receiving unit 120.

[0129] The diffusion unit 170 can be a device or object installed in front of the light source for diffusing light. The diffusion unit 170 can be made of metal or plastic, but is not limited thereto. The light can be diffused in a manner that improves the diffusion effect of the light beam or reduces the intensity of the light beam.

[0130] For distance calibration of the LiDAR device 100, all pixels of the receiving unit 120 need to receive the optical signal. To this end, the diffusion unit can be disposed in front of the receiving unit 120 to diffuse the optical signal so that all pixels of the receiving unit 120 receive the optical signal.

[0131] In addition, when the distance between the receiving unit 120 and the diffusion unit 170 increases, the diffusion unit 170 may not be able to completely diffuse the optical signal within the viewing angle of the receiving unit 120. In this case, since the calibration cannot be performed correctly, the receiving unit 120 can be disposed close to the diffusion unit 170 so that the diffusion unit 170 diffuses the optical signal within the viewing angle of the receiving unit 120.

[0132] Figure 6Shows the optical signal reception range of the receiving unit 120 according to the position of the diffusion unit 170.

[0133] According to an embodiment, the diffusion unit 170 may be disposed at a position d1 between the LiDAR device 100 and the first reflection unit in the first direction. The diffusion unit 170 may be positioned between the LiDAR device 100 and the first reflection unit as close as possible to the receiving unit 120 of the LiDAR device 100 in the first direction. The diffusion unit 170 may be positioned between the LiDAR device 100 and the first reflection unit as far as possible from the first reflection unit in the first direction.

[0134] According to an embodiment, the diffusion unit 170 may be located at the position d1 where the optical signal received by the receiving unit 120 is diffused such that the optical signal fills all pixels of the receiving unit 120. When the diffusion unit 170 is disposed at the position d1, the diffused optical signal may fill all pixels of the receiving unit 120 within the entire viewing angle of the receiving unit 120.

[0135] For example, when the diffusion unit 170 is disposed at the position d3 or d2, the optical signal reception range of the receiving unit 120 may be narrower than all pixels. On the other hand, when the diffusion unit 170 is disposed at the position d1, the optical signal may be diffused and received by all pixels within the viewing angle of the receiving unit. Therefore, when the diffusion unit 170 is disposed at the position d1, calibration of the LiDAR device 100 can be effectively performed.

[0136] Figure 7 is a conceptual diagram of a LiDAR calibration device according to a fourth embodiment, Figure 8 is for describing according to Figure 7 the movement of the moving unit in

[0137] Refer to Figure 7 , according to an embodiment, the LiDAR calibration device 500 may include a first reflection unit 510, a second reflection unit 520, a moving unit MP, and a rotating unit TP. In addition, the LiDAR calibration device 500 may include a processor. The processor may control the driving of the moving unit MP and the rotating unit TP, which will be described below. Such a processor may be used interchangeably with a control unit.

[0138] According to an embodiment, the LiDAR calibration device 500 may include a first reflection unit 510 and a second reflection unit 520. The first reflection unit 510 is configured to reflect an optical signal emitted by the output unit 110 of the LiDAR device 100, and the second reflection unit 520 is configured to reflect the optical signal reflected by the first reflection unit 510.

[0139] The first reflection unit 510 and the second reflection unit 520 may be arranged at a predetermined angle with respect to a second direction perpendicular to a first direction in which the output unit 110 emits an optical signal, and the first reflection unit 510 and the second reflection unit 520 may be arranged in parallel. For example, the control unit may control the first reflection unit 510 and the second reflection unit 520 to be parallel to each other and rotate or tilt at the same angle. Alternatively, the control unit may rotate the first reflection unit and the last reflection unit (map unit) by the same angle through the rotation unit TP.

[0140] The first reflection unit 510 and the second reflection unit 520 may be reflection members that reflect light. For example, the first reflection unit 510 and the second reflection unit 520 may include mirrors. The first reflection unit 510 and the second reflection unit 520 according to an embodiment may be rectangular mirrors. However, the type of the reflection unit is not limited. In addition, the shape, size, or thickness of the reflection unit is not limited.

[0141] The output unit 110 of the LiDAR device 100 according to an embodiment may emit an optical signal toward the first reflection unit 510. The first reflection unit 510 may be arranged within the viewing angle range in which the output unit 110 emits an optical signal. The first reflection unit 510 may reflect the optical signal emitted by the output unit toward the second reflection unit 520. The second reflection unit 520 may be arranged within the viewing angle range of the optical signal reflected by the first reflection unit.

[0142] The first reflection unit 510 and the second reflection unit 520 may be arranged at a predetermined angle with respect to a second direction perpendicular to a first direction in which the output unit 110 emits an optical signal. For example, the first reflection unit 510 and the second reflection unit 520 may be arranged at an angle θ with respect to a second direction perpendicular to a first direction in which the output unit 110 emits an optical signal. 1。 The magnitude of this angle may vary according to the sizes of the first reflection unit 510 and the second reflection unit 520, but is not limited thereto.

[0143] The first reflection unit 510 and the second reflection unit 520 may be arranged in parallel.

[0144] By arranging the first reflection unit 510 and the second reflection unit 520 in parallel, the optical signal reflected by the second reflection unit 520 may return to and reach the first reflection unit 510.

[0145] The first reflection unit 510 and the second reflection unit 520 of the LiDAR calibration device 500 according to an embodiment may be arranged at different distances from the output unit in the first direction.

[0146] For example, the first reflection unit 510 according to an embodiment may be disposed at a distance a1 from the output unit 110 in the first direction. In addition, the second reflection unit 520 according to an embodiment may be disposed at a distance from the output unit 110 other than a1 in the first direction. For example, the second reflection unit 520 and the output unit 110 may be disposed at the same distance in the first direction. In this case, the distance between the first reflection unit 510 and the second reflection unit 520 in the first direction may be a1.

[0147] The centers of the first reflection unit 510 and the second reflection unit 520 of the LiDAR calibration device 500 according to an embodiment may be disposed at different distances from the output unit 110 in the second direction.

[0148] For example, the second reflection unit 520 according to an embodiment may be disposed at a distance b1 from the output unit 110 in the second direction. In addition, the first reflection unit 510 according to an embodiment may be disposed at a distance from the output unit 110 other than b1 in the second direction. For example, the first reflection unit 510 and the output unit 110 may be disposed at the same distance in the second direction. In this case, the distance between the first reflection unit 510 and the second reflection unit 520 in the second direction may be b1.

[0149] The second reflection unit 520 of the LiDAR calibration device 500 according to an embodiment may reflect the optical signal reflected from the first reflection unit 510 back to the first reflection unit 510, and the first reflection unit 510 may reflect the optical signal reflected from the second reflection unit 520 to the receiving unit 120 of the LiDAR device 100.

[0150] The second reflection unit 520 may reflect the optical signal reflected from the first reflection unit 510 back to the first reflection unit 510. In addition, the first reflection unit 510 may reflect the optical signal reflected from the second reflection unit 520 to the receiving unit 120 of the LiDAR device 100.

[0151] Thus, the optical signal according to the embodiment can be received by the receiving unit 120 from the output unit 110 through the first reflection unit 510, the second reflection unit 520, and the first reflection unit 510. The receiving unit 120 receives the optical signal, and the depth map generation unit of the LiDAR device 100 generates a depth map of the optical signal. By comparing the detected distance data of the depth map with the distance information of the actual target (second reflection unit), the LiDAR device can be calibrated. In this case, the first reflection unit 510 can be disposed at a distance that is half of the minimum measurement distance of the LiDAR device 100, thereby minimizing the minimum measurement distance to half of it to the greatest extent. Thus, the LiDAR device can be calibrated at a short distance. In this way, the above description can be applied in the same manner, except for the description provided below.

[0152] The moving unit MP can be connected to the first reflection unit 510 and / or the second reflection unit 520. For example, the moving unit MP can be connected to at least one of the first reflection unit 510 and the second reflection unit 520. The moving unit MP can move the first reflection unit 510 and the second reflection unit 520 in a first direction or a second direction perpendicular to the first direction. For example, the moving unit MP can move the first reflection unit 510 and / or the second reflection unit 520 in the first direction. In addition, the moving unit MP can move the first reflection unit 510 and / or the second reflection unit 520 in the second direction. The first moving member M1 and the second moving member M2 can move in the first direction or the second direction along the track RL. A detailed description thereof will be given below.

[0153] In addition, regarding Figure 8 , the first reflection unit 510 can be moved by the moving unit MP in the first direction. Thus, the first reflection unit 510 can be disposed at a distance a1' from the output unit 110 in the first direction. In addition, a1' can be greater than a1. Thus, the spacing distance between the first reflection unit 510 and the second reflection unit 520 in the first direction can be increased. Thus, regarding the calibration of the LiDAR device 100, the actual distance can be easily changed. That is, for the calibration of the LiDAR device 100, the actual distance can be easily changed by moving the first reflection unit 510 and the second reflection unit 520 by the moving unit MP. In this way, the calibration device of the LiDAR device can reduce space constraints or limitations. In addition, the LiDAR calibration device can be easily miniaturized.

[0154] In addition, as described above, the distance between the first reflection unit 510 and the second reflection unit 520 in the second direction can be changed, so the actual distance can be easily adjusted.

[0155] The rotation unit TP can rotate at least one of the first reflection unit 510 and the second reflection unit 520 relative to the third direction. The third direction can be a direction perpendicular to the first direction and the second direction. This description can also be applied to other embodiments below in the same way.

[0156] The rotation unit TP can be provided on the mobile unit MP. In addition, the rotation unit TP can be connected to the first reflection unit 510 and the second reflection unit 520. As described above, the rotation unit TP can rotate each reflection unit or the target (target card) relative to the third direction, so as to adjust the movement path of the optical signal according to the distance between the first reflection unit and the second reflection unit in the first direction or the second direction. That is, the optical signal can be accurately transmitted from the first reflection unit to the second reflection unit, or accurately transmitted from the second reflection unit to the first reflection unit.

[0157] More specifically, the mobile unit MP can include a first moving member M1 connected to the first reflection unit 510 and a second moving member M2 connected to the second reflection unit 520. In addition, the mobile unit MP can include a track RL for moving the first moving member M1 and the second moving member M2. The track RL can extend along the first direction or the second direction. The track RL can be provided as a plurality of tracks. As shown in the figure, the track RL can extend along the first direction. In addition, the first moving member M1 and the second moving member M2 can be located on the track RL. In addition, at least one of the first moving member M1 and the second moving member M2 can move along the first direction and / or the second direction. That is, at least one of the first moving member M1 and the second moving member M2 can move along the track RL. An example of the first moving member M1 and / or the second moving member M2 moving along the track RL in the first direction will be described below. However, as a modified example, the mobile unit MP can only include the first moving member M1 and only move the first moving member M1 in the first direction to adjust the distance between the reflection units.

[0158] In addition, the rotation unit TP can include a first rotation unit T1 connected to the first reflection unit 510 and a second rotation unit T2 connected to the second reflection unit 520. The rotation unit TP can be connected to each reflection unit.

[0159] The first rotation unit T1 can rotate the first reflection unit 510 relative to the third direction. According to the rotation, the predetermined angle of the first reflection unit 510 relative to the second direction can be changed. The second rotation unit T2 can rotate the second reflection unit 520 relative to the third direction. According to the rotation, the predetermined angle of the second reflection unit 520 relative to the second direction can be changed.

[0160] The mobile unit can be connected to each rotating unit and reflecting unit. Alternatively, the mobile unit can be connected to a plurality of rotating units. For example, the odd-numbered reflecting units described below can be connected to the same mobile unit (e.g., the first mobile unit) and moved by the first mobile unit in the first direction or the second direction. In addition, the even-numbered reflecting units can be connected to the same mobile unit (e.g., the second mobile unit) and moved by the second mobile unit in the first direction or the second direction.

[0161] In addition, as described above, the length in the first direction between the first reflecting unit 510 and the output unit 110 can be greater than the length in the first direction between the second reflecting unit 520 and the output unit 110. The second reflecting unit 520 can be closer to the output unit 110 (or the LiDAR device) than the first reflecting unit 510.

[0162] When the LiDAR calibration device 500 according to an embodiment has two reflecting units, the second reflecting unit 520 can include a mirror or a target chart. That is, in the LiDAR calibration devices according to various embodiments of the present disclosure, the reflecting unit (in which the target that receives the optical signal is the same as the target that emits the optical signal) can include a mirror or a target chart.

[0163] Figure 9 is a conceptual diagram of a LiDAR calibration device according to the fifth embodiment.

[0164] Reference Figure 9 , the LiDAR calibration device 600 according to the fifth embodiment can include a first reflecting unit 610, a second reflecting unit 620, a third reflecting unit 630, a mobile unit MP, and a rotating unit TP. In addition, the LiDAR calibration device 600 can further include a target unit 640. For example, when the target unit 640 does not exist, the third reflecting unit 630 can be used as the target unit. That is, the optical signal reflected from the third reflecting unit 630 can be provided to the second reflecting unit 620. However, the following description will be based on the case where the optical signal reflected from the target unit 640 is provided to the third reflecting unit 630.

[0165] The descriptions of the first reflecting unit 610, the second reflecting unit 620, the mobile unit MP, and the rotating unit TP can be applied in the same manner, except for the descriptions to be provided below.

[0166] Specifically, the LiDAR calibration device 600 according to an embodiment may include a first reflection unit 610 and a chart unit 640 (or a first reflection unit and a last reflection unit) arranged in parallel. In addition, the LiDAR calibration device 600 according to an embodiment may further include an additional reflection unit. The LiDAR calibration device 600 according to an embodiment may include a second reflection unit 620 and a third reflection unit 630 disposed between the first reflection unit and the last reflection unit. As described above, in the LiDAR calibration device, the reflection units other than the first reflection unit and the last reflection unit (chart unit) among the plurality of reflection units may be arranged in parallel. For example, the second reflection unit and the third reflection unit among the plurality of reflection units other than the first reflection unit and the last reflection unit (chart unit) may be arranged in parallel in the second direction. In addition, as a modification example, the rotation unit may not be provided on the second reflection unit and the third reflection unit. That is, the rotation unit may be connected only to the first reflection unit and the last reflection unit.

[0167] The LiDAR calibration device 600 may further include a third reflection unit 630 arranged in parallel with the second direction and a chart unit 640 arranged at a predetermined angle with respect to the second direction.

[0168] As described above, the first reflection unit and the last reflection unit (chart unit) may be arranged in parallel.

[0169] The third reflection unit 630 and the first reflection unit 610 may be disposed at the same distance from the output unit 110 in the first direction, the chart unit 640 and the second reflection unit 620 may be disposed at the same distance from the output unit 110 in the first direction, and the second reflection unit 620 may be arranged in parallel with the second direction. The third reflection unit 630 may be arranged to be spaced apart from the first reflection unit 610 in the second direction. In addition, the length in the first direction between the third reflection unit 630 and the output unit 110 may be the same as the length in the first direction between the first reflection unit 610 and the output unit 110. In addition, when a predetermined reflection unit moves in the second direction, the length in the first direction between the third reflection unit 630 and the output unit 110 may be different from the length in the first direction between the first reflection unit 61 and the output unit 110.

[0170] In addition, at least a part of the third reflection unit 630 may overlap with the first reflection unit 610 in the second direction. In addition, the chart unit 640 may be arranged to be spaced apart from the second reflection unit 620 in the second direction. The chart unit 640 may be disposed at the same or different distance from the output unit 110 in the first direction as the second reflection unit. When the movement of each reflection unit in the first direction is performed independently, the distance between the reflection unit and the output unit 110 may be different.

[0171] The third reflection unit 630 and the fourth reflection unit 640 (or interchangeably used with the graphic card unit 640) may be reflection members that reflect light similar to the first reflection unit 610 and the second reflection unit 620. The third reflection unit 630 and the fourth reflection unit 640 according to an embodiment may be rectangular mirrors. However, the type of the reflection unit is not limited. In addition, the shape, size, or thickness of the reflection unit is not limited.

[0172] The second reflection unit 620 according to an embodiment may reflect an optical signal to the third reflection unit 630, the third reflection unit 630 may reflect the optical signal to the graphic card unit 640, and the graphic card unit 640 may reflect the optical signal to the third reflection unit 630.

[0173] The second reflection unit 620 according to an embodiment may be disposed parallel to the second direction to reflect the optical signal reflected from the first reflection unit 610 to the third reflection unit 630. The third reflection unit 630 may be disposed parallel to the second direction to reflect the optical signal reflected from the second reflection unit 620 to the graphic card unit 640. The graphic card unit 640 may reflect the optical signal reflected from the third reflection unit 630 back to the third reflection unit 630. The third reflection unit 630 may reflect the optical signal back to the second reflection unit 620, the second reflection unit 620 may reflect the optical signal back to the first reflection unit 610, and the first reflection unit 610 may reflect the optical signal back to the receiving unit 120.

[0174] The first reflection unit 610 and the graphic card unit 640 may be disposed at a predetermined angle with respect to the second direction. For example, the first reflection unit 610 and the graphic card unit 640 may be disposed at an angle θ2 with the second direction, and the second direction is perpendicular to the first direction in which the output unit 110 emits the optical signal. The magnitude of this angle may vary according to the sizes of the first reflection unit 610 and the graphic card unit 640, but is not limited thereto.

[0175] The third reflection unit 630 and the first reflection unit 610 may be disposed at the same distance from the output unit 110 in the first direction. For example, the third reflection unit 630 and the first reflection unit 610 according to an embodiment may be disposed at a distance a2 from the output unit 110 in the first direction.

[0176] The card unit 640 and the second reflection unit 620 may be disposed at the same distance from the output unit 110 in the first direction. The second reflection unit 620 may be disposed at a distance from the output unit 110 other than a1 in the first direction. For example, the card unit 640 and the second reflection unit 620 may be disposed at the same distance from the output unit 110 in the first direction. In this case, the distance between the first reflection unit 610 and the card unit 640 or the second reflection unit 620 in the first direction may be a2.

[0177] The centers of the first reflection unit 610 to the third reflection unit 630 and the card unit 640 according to the embodiment may be set to have regular intervals and at different distances from the output unit 110 in the second direction.

[0178] For example, the second reflection unit 620 according to the embodiment may be disposed at a distance b1 from the output unit 110 in the second direction. In addition, the first reflection unit 610 according to the embodiment may be disposed at a distance from the output unit 110 other than b1 in the second direction. For example, the first reflection unit 610 and the output unit 110 may be disposed at the same distance in the second direction. In this case, the distance between the first reflection unit 610 and the second reflection unit 620 in the second direction may be b1. In addition, according to the embodiment, the distance between the third reflection unit 630 and the second reflection unit 620 in the second direction may be b1. In addition, according to the embodiment, the distance between the card unit 640 and the second reflection unit 620 in the second direction may be b1.

[0179] Therefore, the optical signal according to the embodiment may be received by the receiving unit 120 from the output unit 110 through the first reflection unit 610, the second reflection unit 620, the third reflection unit 630, the card unit 640, the third reflection unit 630, the second reflection unit 620, and the first reflection unit 610. The receiving unit 120 receives the optical signal, and the depth map generation unit of the LiDAR device 100 generates a depth map of the optical signal. By comparing the detection distance data of the depth map with the distance information of the actual target (card unit), the LiDAR device can be calibrated. In this case, the first reflection unit 610 and the third reflection unit 630 may be disposed at a quarter of the minimum measurement distance of the LiDAR device 100, thereby minimizing the minimum measurement distance to a quarter of it. Thus, the LiDAR device can be calibrated at a short distance.

[0180] In addition, the first reflection unit 610 and the third reflection unit 630 can be connected to the first moving member M1. The first reflection unit 610 and the third reflection unit 630 can be connected to the first moving member M1. Therefore, the first reflection unit 610 and the third reflection unit 630 can move integrally in the first direction. As a modification example, as described above, the first moving member M1 can include a 1-1 moving member and a 1-2 moving member. In addition, the first reflection unit 610 can be connected to the 1-1 moving member. In addition, the third reflection unit 630 can be connected to the 1-2 moving member. In addition, the 1-1 moving member and the 1-2 moving member can move independently of each other in the second direction. Therefore, the distance between the first reflection unit 610 and the third reflection unit 630 in the second direction can change.

[0181] In addition, the second reflection unit 620 and the target unit 640 can be connected to the second moving member M2. The second reflection unit 620 and the target unit 640 can be connected to the second moving member M2. Therefore, the second reflection unit 620 and the target unit 640 can move integrally in the first direction. As a modification example, as described above, the second moving member M2 can include a 2-1 moving member and a 2-2 moving member. In addition, the first reflection unit 620 can be connected to the 2-1 moving member. In addition, the target unit 640 can be connected to the 2-2 moving member. In addition, the 2-1 moving member and the 2-2 moving member can move independently of each other in the second direction. Therefore, the spacing distance between the second reflection unit 620 and the target unit 640 in the second direction can change.

[0182] In addition, the plurality of reflection units and the card unit can be respectively connected to the rotation unit. For example, the first reflection unit 610 can be connected to the first rotation unit T1. In addition, the first rotation unit T1 can rotate the first reflection unit 610 relative to the third direction. In the present specification, the rotation unit can include various devices (such as a motor) for rotating the reflection unit relative to the third direction.

[0183] For example, the second reflection unit 620 can be connected to the second rotation unit T2. In addition, the second rotation unit T2 can rotate the second reflection unit 620 relative to the third direction. The third reflection unit 630 can be connected to the third rotation unit T3. In addition, the third rotation unit T3 can rotate the third reflection unit 630 relative to the third direction. The card unit 640 can be connected to the fourth rotation unit T4. In addition, the fourth rotation unit T4 can rotate the card unit 640 relative to the third direction.

[0184] In this specification, each rotation unit in the rotation unit (e.g., the first rotation unit to the fourth rotation unit) can rotate each connected reflection unit (or card unit) to have a predetermined angle relative to the second direction. In this case, each rotation unit can rotate the reflection unit or the card unit to have the same angle relative to the second direction. For example, the first reflection unit and the card unit can be rotated to have the same angle relative to the second direction. In addition, the second reflection unit and the third reflection unit can be rotated to be parallel to the second direction or parallel to each other. In addition, in this specification, the angles of the first reflection unit and the last reflection unit among the multiple reflection units relative to the second direction can be different from the angles of the other reflection units (e.g., the second reflection unit and the third reflection unit) relative to the second direction. That is, the first reflection unit and the last reflection unit among the multiple reflection units may not be parallel to the other reflection units (e.g., the second reflection unit and the third reflection unit).

[0185] In addition, unless there is an abnormality, each rotation unit can rotate the first reflection unit and the last reflection unit (or card unit) at the same angle. For example, the length (or distance) in the first direction between the first reflection unit (or the third reflection unit) and the second reflection unit (or card unit) can be changed by the moving unit MP. In this case, the rotation unit can rotate the first reflection unit and the fourth reflection unit (card unit) at the same angle. In addition, the second reflection unit and the third reflection unit can also be rotated at the same angle. However, as described above, the first reflection unit and the fourth reflection unit may not be parallel to the second reflection unit and the third reflection unit. In addition, the rotation directions provided by the rotation unit TP can also be the same. Even if the distance between the reflection units in the second direction changes, this can be applied in the same way. For example, the distance between the reflection units in the second direction can change. In this case, the rotation unit can rotate the reflection units at the same angle as described above. In addition, the rotation directions provided by the rotation unit TP can also be the same. Therefore, each reflection unit or card unit can be arranged in parallel. This description can also be applied to the LiDAR calibration device according to this embodiment and the LiDAR calibration device according to other embodiments.

[0186] In addition, the LiDAR calibration device according to an embodiment may further include a diffusion unit 170 (see Figure 6 ), and this diffusion unit 170 is arranged on the path of the optical signal output from the output unit 110 or the optical signal received by the receiving unit 120. This can be applied to all LiDAR calibration devices according to various embodiments. In addition, regarding the description of the diffusion unit, Figure 6 the description provided can be applied in the same way.

[0187] Figure 10 It is a conceptual diagram of the LiDAR calibration device according to the sixth embodiment.

[0188] Reference Figure 10 , the LiDAR calibration device 700 according to the present embodiment may include a plurality of reflection units (n reflection units), a moving unit MP, and a rotating unit TP. In addition, except as described below, the above descriptions of the reflection unit, the moving unit MP, and the rotating unit TP may be applied in the same manner. For example, the LiDAR calibration device 700 may include a plurality of rotating units (e.g., n rotating units) corresponding to the plurality of reflection units. In addition, the moving unit MP may include two moving members. Alternatively, the moving unit MP may include moving members corresponding to the number of reflection units. Alternatively, the moving unit MP may include one moving member. Alternatively, the moving unit MP may include a plurality of moving members. The number of moving units may be changed in a manner corresponding to the number of reflection units to be moved in the first direction or the second direction.

[0189] In addition, the LiDAR calibration device 700 may include n (n is a positive integer) reflection units for reflecting light signals, wherein the even-numbered reflection units among the reflection units and the output unit 110 may be disposed at the same position in the second direction perpendicular to the first direction in which the output unit 110 of the LiDAR device 100 emits light signals, the odd-numbered reflection units among the reflection units may be disposed to be spaced apart from the even-numbered reflection units in the first direction, the odd-numbered reflection units and the even-numbered reflection units may be disposed at the same position in the second direction, the centers of the n reflection units may be disposed at regular intervals in the second direction, and the first reflection unit and the nth reflection unit among the n reflection units may be disposed to have a predetermined angle with respect to the second direction and be parallel to each other.

[0190] The odd-numbered reflection units may be disposed to be spaced apart from the even-numbered reflection units in the first direction, and the odd-numbered reflection units and the even-numbered reflection units may be disposed at the same position in the second direction. For example, the odd-numbered reflection units according to the embodiment may be disposed at a distance a3 from the even-numbered reflection units in the first direction. In addition, the centers of the n reflection units may be disposed at regular intervals in the second direction. For example, the centers of the n reflection units according to the embodiment may be disposed at a distance b3 in the second direction. In addition, the first reflection unit and the nth reflection unit may be disposed to have a predetermined angle with respect to the second direction and be parallel to each other. For example, the first reflection unit and the nth reflection unit according to the embodiment may be disposed to have an angle of θ3 with respect to the second direction.

[0191] The first reflection unit, the nth reflection unit, and the second to the (n - 1)th reflection units of the LiDAR calibration device 700 according to the embodiment may not be arranged in parallel.

[0192] The first reflection unit of the LiDAR calibration device 700 according to the embodiment may reflect the optical signal emitted by the output unit, and the ith reflection unit among the n reflection units may reflect the optical signal to the (i - 1)th reflection unit or the (i + 1)th reflection unit (i is an integer greater than or equal to 1 and less than or equal to n).

[0193] According to the embodiment, the optical signal emitted from the output unit 110 may be transmitted to the first reflection unit, reflected to the second reflection unit, reflected to the third reflection unit, reflected to the nth reflection unit, reflected back to the first reflection unit, and received by the receiving unit 120. The receiving unit 120 receives the optical signal, and the depth map generation unit of the LiDAR device 100 generates a depth map of the optical signal. By comparing the detected distance data of the depth map with the distance information of the actual target (chart unit), the LiDAR device can be calibrated. In this case, the odd-numbered reflection units may be arranged at a distance of 1 / n of the minimum measurement distance of the LiDAR device 100, so as to minimize the minimum measurement distance to 1 / n of it to the greatest extent. Thus, the LiDAR device can be calibrated at a short distance.

[0194] Figure 11 It is a flowchart of the LiDAR calibration method according to the embodiment.

[0195] Reference Figure 11 According to, the LiDAR calibration method S1000 according to the embodiment includes: an operation S1100 of emitting an optical signal from the output unit of the LiDAR device to the first reflection unit; an operation S1200 of reflecting the optical signal from the first reflection unit to the second reflection unit; an operation S1300 of reflecting the optical signal from the second reflection unit to the first reflection unit; an operation S1400 of reflecting the optical signal from the first reflection unit back to the receiving unit of the LiDAR device; and an operation S1500 of receiving the reflected optical signal by the receiving unit, wherein the first reflection unit and the second reflection unit may be arranged in parallel.

[0196] In the LiDAR calibration method S1000 according to the embodiment, the first reflection unit and the second reflection unit may be arranged at a predetermined angle with respect to a second direction perpendicular to the first direction in which the output unit emits the optical signal, the first reflection unit and the second reflection unit may be arranged at different distances from the output unit in the first direction, and the centers of the first reflection unit and the second reflection unit may be arranged at different distances from the output unit in the second direction.

[0197] The LiDAR calibration method S1000 according to an embodiment may include: an operation of reflecting an optical signal by a second reflection unit to a third reflection unit; an operation of reflecting the optical signal by the third reflection unit to a card unit; an operation of reflecting the optical signal back to the third reflection unit by the card unit; and an operation of reflecting the optical signal back to the third reflection unit by the third reflection unit.

[0198] In the LiDAR calibration method S1000 according to an embodiment, the third reflection unit may be arranged parallel to a second direction, the card unit may be arranged at a predetermined angle with respect to the second direction, the third reflection unit and the first reflection unit may be arranged at the same distance from an output unit in a first direction, the card unit and the second reflection unit may be arranged at the same distance from the output unit in the first direction, and the second reflection unit may be arranged parallel to the second direction.

[0199] The LiDAR calibration method S1000 according to an embodiment may include an operation of diffusing an optical signal reflected from a first reflection unit by a diffusion unit, and the diffusion unit may be arranged at a position where the diffused optical signal may include the entire viewing angle of a receiving unit.

[0200] The diffusion unit of the LiDAR calibration method S1000 according to an embodiment may be arranged on the path of an optical signal output from an output unit or an optical signal received by a receiving unit.

[0201] Figure 12 is a flowchart of a LiDAR calibration method according to another embodiment.

[0202] The LiDAR calibration method S2000 according to another embodiment may include: an operation S2100 of adjusting the position or angle of a first reflection unit and a second reflection unit; an operation S2200 of emitting an optical signal from an output unit of a LiDAR device to the first reflection unit; and an operation S2300 of reflecting the optical signal in the order of the first reflection unit, the second reflection unit, and the first reflection unit, and receiving the reflected optical signal by a receiving unit of the LiDAR device.

[0203] First, the position or angle of the first reflection unit and the second reflection unit may be adjusted. The position of the first reflection unit and / or the second reflection unit may be adjusted by a moving unit. At this time, the LiDAR calibration device may use a processor to adjust the position of the first reflection unit and the second reflection unit through the moving unit. In addition, the LiDAR calibration device may use a processor to rotate the first reflection unit and the second reflection unit through a rotating unit.

[0204] Subsequently, the optical signal can be emitted from the output unit of the LiDAR calibration device to the first reflection unit (S2200), and the optical signal can be reflected in the order of the first reflection unit, the second reflection unit, and the first reflection unit, and the optical signal can be received by the receiving unit of the LiDAR device (S2300). The description in operation S1100 can be applied to operation S2200 in the same manner. In addition, the descriptions provided in operations S1200, S1300, S1400, and S1500 can be applied to operation S2300 in the same manner, where the optical signal is received by the receiving unit of the LiDAR device through multiple reflection units.

[0205] In addition, as described above, the first reflection unit and the second reflection unit can be arranged in parallel, and the description of the LiDAR calibration device according to each embodiment can be applied to the description of other components in the same manner.

[0206] The connection method according to the disclosed embodiments can be implemented in the form of program commands, which can be executed by various computer devices and recorded on a computer-readable medium. In addition, the embodiments of the present disclosure can constitute a computer-readable recording medium on which one or more programs including commands for executing a wireless communication method are recorded.

[0207] In addition, the computer-readable medium can include program commands, data files, data structures, etc. alone or in combination. The program commands recorded on the medium can be specifically designed and constructed for the present disclosure, or can 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 compact disc read-only memory (CD-ROM) and digital versatile disc (DVD)), and magneto-optical media (such as optical floppy disks), as well as hardware devices specifically configured to store and execute program commands (such as read-only memory (ROM), random access memory (RAM), and flash memory). Examples of program commands include not only machine language codes generated by compilers, but also high-level language codes that can be executed by a computer using an interpreter, etc.

[0208] Here, the device-readable storage medium can be provided in the form of a non-transitory storage medium. Here, "non-transitory" is a tangible device and only means that it does not include signals (such as electromagnetic waves), and the term does not distinguish between cases where data is stored semi-permanently and temporarily in the storage medium. For example, a "non-transitory storage medium" can include a buffer for temporarily storing data.

[0209] According to one embodiment, the connection method according to various embodiments disclosed herein can be provided by being included in a computer program product. The computer program product can be traded as a product. The computer program product can be distributed in the form of a device-readable storage medium (e.g., CD-ROM), or distributed online via an app store (e.g., Play Store TM ) (e.g., downloaded or uploaded), or directly distributed between two user devices (e.g., smartphones). In the case of online distribution, at least part of the computer program product (e.g., a downloadable app) can be at least temporarily stored or temporarily generated in a device-readable storage medium, such as the memory of a manufacturer server, the server of an app store, or a relay server.

[0210] In particular, the computer program product can be implemented by including a recording medium in which a program for executing the connection method according to the disclosed embodiments is stored.

[0211] The term "unit" used in this embodiment refers to a software or hardware component, such as a field-programmable gate array (FPGA) or an application-specific integrated circuit (ASIC), that performs certain tasks. However, the "unit" is not limited to software or hardware. The "unit" can be placed in an addressable storage medium and configured to reproduce one or more processors. Thus, by way of example, the "unit" includes components (such as software components, object-oriented software components, class components, and task components), processes, functions, attributes, flows, subroutines, program code segments, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The functions provided in the components and "units" can be combined into a smaller number of components and "units" or divided into additional components and "units". In addition, the components and "units" can be implemented as one or more CPUs in a reproduction device or a secure multimedia card.

[0212] Although the embodiments have been mainly described above, these embodiments are merely illustrative and do not limit the present invention. Those skilled in the art to which the present invention pertains can know that various modifications and applications not exemplified above can be made without departing from the basic features of the embodiments. For example, each component specifically shown in the embodiments can be implemented through its modification. In addition, the differences related to these modifications and applications should be interpreted as being included within the scope of the present invention defined in the appended claims. Specifically, each component shown can be implemented through its modification. In addition, the differences related to these modifications and applications should be interpreted as being included within the scope of the present invention defined in the appended claims.

Claims

1. A LiDAR calibration device, comprising: A first reflection unit configured to reflect an optical signal emitted by an output unit of a LiDAR device; A second reflection unit configured to reflect the optical signal reflected from the first reflection unit; And A moving unit connected to the first reflection unit and the second reflection unit, Wherein the moving unit moves the first reflection unit and the second reflection unit along a first direction in which the optical signal is emitted or along a second direction perpendicular to the first direction.

2. The LiDAR calibration device according to claim 1, comprising a rotation unit provided on the moving unit and connected to the first reflection unit and the second reflection unit.

3. The LiDAR calibration device according to claim 2, wherein, The rotation unit rotates at least one of the first reflection unit and the second reflection unit relative to a third direction, and The third direction is a direction perpendicular to the first direction and the second direction.

4. The LiDAR calibration device according to claim 2, wherein, The moving unit includes: A first moving member connected to the first reflection unit; and A second moving member connected to the second reflection unit.

5. The LiDAR calibration device according to claim 2, wherein, The rotation unit includes: A first rotation unit connected to the first reflection unit; and A second rotation unit connected to the second reflection unit.

6. The LiDAR calibration device according to claim 1, wherein, The first reflection unit and the second reflection unit are arranged parallel to each other.

7. The LiDAR calibration device according to claim 6, wherein, The first reflection unit and the second reflection unit are arranged at different distances from the output unit in the first direction.

8. The LiDAR calibration device according to claim 1, wherein, The length between the first reflection unit and the output unit in the first direction is greater than the length between the second reflection unit and the output unit in the first direction.

9. The LiDAR calibration device according to claim 1, wherein, The second reflection unit reflects the optical signal reflected from the first reflection unit back to the first reflection unit, and The first reflection unit reflects the optical signal reflected from the second reflection unit to a receiving unit of the LiDAR device.

10. The LiDAR calibration device according to claim 1, wherein, The second reflection unit includes a mirror or a target chart.

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