High-resolution lidar device based on light-incidence-controlled horizontally arranged light transmitting and receiving module and object detection method using same

Abstract

The present invention relates to a high-resolution distance measuring device, comprising: a light transmitting unit comprising a first light transmitting module which emits first laser light in a first wavelength band, converts the first laser light into a first linear laser beam, and outputs the first linear laser beam, and a second light transmitting module which emits second laser light in a second wavelength band different from that of the first laser light, converts the second laser light into a second linear laser beam, and outputs the second linear laser beam; a scanning mirror unit which reflects and emits the first laser beam and the second laser beam outputted through the light transmitting unit to scan a preset scan angle area, and allows first reflected light reflected by a target object through the first laser beam and second reflected light reflected by the target object through the second laser beam to be respectively incident thereon and reflects the first reflected light and the second reflected light; a light receiving unit which is disposed at a position opposite to the light transmitting unit with respect to the scanning mirror unit, receives the first reflected light reflected through the scanning mirror unit by reflecting same, and receives the second reflected light reflected through the scanning mirror unit by transmitting same; and a housing unit in which the light transmitting unit, the scanning mirror unit, and the light receiving unit are installed, whereby resolution is improved by securing a maximum detection distance without optical loss, and durability is improved and the product height is minimized due to the absence of driving parts other than a scanning mirror. In addition, the present invention relates to a LiDAR device having two light transmitting modules, comprising: a light transmitting unit comprising a first light transmitting module which emits first laser light, converts the first laser light into a first linear laser beam

Description

High-resolution LiDAR device based on light-incident controlled left-right positioned transmit / receive module and object detection method using the same

[0001] The technical field of the present disclosure relates to a high-resolution distance measuring device that includes two light-transmitting modules that each emit laser light of different wavelength bands, and two sensors that each receive light by reflecting one reflected light through a scanning mirror through a bandpass filter while transmitting the other reflected light through a bandpass filter, thereby securing a maximum detection distance without light loss to improve resolution, improving durability by eliminating driving parts other than the scanning mirror, and minimizing product height.

[0002] In addition, the invention relates to a lidar device having two light-transmitting modules that can effectively improve lidar performance by effectively removing dark areas while minimizing equipment costs, by providing two light-transmitting modules arranged vertically and two light-receiving modules arranged opposite to the light-transmitting modules based on a scanning mirror, wherein one of the light-transmitting modules is arranged to emit a laser beam off-center from the central axis.

[0003] In addition, the invention relates to a LiDAR device having a left-right arranged transmitting and receiving module, wherein a transmitting unit and a receiving unit are arranged to face each other on the left and right sides with respect to a scanning mirror, and a virtual aperture is placed at the front of the target object, and a laser light emitted from a light source is converted into a linear laser beam through at least one lens and reflected through the scanning mirror, thereby reducing the device size compared to a stacked structure and improving long-distance object detection performance and durability.

[0004] In addition, the invention relates to a lidar device that precisely measures the distance to surrounding objects or three-dimensional shapes, and more specifically, to a field of technology for a lidar device having a structure in which a light-transmitting unit and a light-receiving unit are separated and arranged opposite each other with respect to a scanning mirror unit.

[0005] In addition, the invention relates to a fire smoke detection device using a lidar sensor and a method applied thereto, and more specifically, to a fire smoke detection device using a lidar sensor for initial fire suppression and a method applied thereto.

[0006] As is well known, LiDAR (Light Detection and Ranging) is a distance measuring device that uses laser light to measure distance and location information. It emits light from a transmitting module, reflects it from the surrounding environment, and then a receiving module detects the reflected light and measures the time interval to measure distance using the speed of light, thereby enabling the detection of the shape and location of objects with high accuracy.

[0007] LiDAR, with these advantages, enables highly precise distance measurement and is being applied in various industries such as autonomous driving, robotics, security, and surveillance systems; furthermore, the scope of its application is expected to expand in the future.

[0008] Key indicators for evaluating the performance of LiDAR, as mentioned above, include resolution, maximum detection range, durability, frame rate, field of view, and size; recently, the automotive industry has shown a trend of mounting LiDAR on the vehicle roof to secure a wider vertical field of view and visibility.

[0009] Consequently, there is a need to reduce the height of the LiDAR to minimize its impact on the vehicle's exterior and air resistance. Furthermore, since it must be mountable on various platforms such as robots and drones as well as automobiles, there is a growing trend toward small and lightweight LiDARs. In particular, durability is known to be critical for LiDARs applied to autonomous driving, as they must provide accurate data even in diverse environments involving road vibrations and other factors, requiring consistent operation under conditions such as vibration and shock.

[0010] Furthermore, since it is necessary to predict and respond to potential risks from long distances, accurate object detection of small objects over long range is required, making high-resolution LiDAR necessary.

[0011] Meanwhile, when designing a distance measuring device such as LiDAR, the number of channels (i.e., the number of vertical lines) is generally set to be the same as the number of channels of the sensor. However, when using two sensors, a beam splitter is applied, for example, but there is a problem in that long-range detection becomes difficult because the beam intensity formed on the sensor becomes very weak.

[0012] In addition, there are cases where sensors and VCSEL (Vertical-Cavity Surface-Emitting Laser) emitters are customized by arranging them according to the number of channels; however, since the positioning of the emitters and sensors is very precise, there are problems that not only make the process difficult but also impose a burden on cost.

[0013] Alternatively, a component that adjusts the beam angle according to the signal is sometimes used, but there are issues with the durability of this component.

[0014] In addition, LiDAR (Light Detection and Ranging) is a device that emits laser light from a transmitting module, reflects it off surrounding objects such as people or vehicles, and detects the reflected light at a receiving module to measure accurate distance and location information using time intervals and the speed of light. It is widely known as a sensor that measures the distance to target objects, recognizes objects, and precisely displays the surrounding environment.

[0015] Because such LiDAR enables highly precise distance measurement, it is being applied to various industries such as autonomous driving, ADAS, unmanned robots, terrain analysis, security systems, and surveillance systems. As it can be used for purposes such as object recognition, terrain navigation, and collision avoidance, the scope of its application industries is continuously expanding.

[0016] In particular, since vehicle speeds are very high when driving on highways, high-resolution data must be provided that can recognize small obstacles on the road, such as debris, fallen objects, and animals, even from a long distance.

[0017] Furthermore, during long-distance driving, if even one channel is missing from the center of the field of view, it causes problems with recognizing long-distance objects, which increases the risk of traffic accidents; therefore, it is important to eliminate dark areas (i.e., areas where the beam is not irradiated) from the LiDAR's transmitter.

[0018] In conventional lidar, VCSEL (Vertical-Cavity Surface-Emitting Laser) emitters are customized by arranging them according to the number of channels to prevent channel loss even over long distances; however, this presents a problem in that not only are the installation costs for the VCSELs themselves high, but the customization costs are also substantial.

[0019] In addition, while Edge-Emitting Lasers (EELs) are relatively cheaper than VCSELs and have higher optical power, there is a problem in that a gap exists between emitters due to their characteristics, and a dark area is generated by this gap.

[0020] To solve the aforementioned problems, there is a need to develop a lidar device capable of improving lidar performance by eliminating dark areas through the irradiation of an actual beam into the area where dark areas occur.

[0021] Furthermore, the automotive industry has recently shown a trend of mounting LiDAR devices on the vehicle roof to secure a wider vertical field of view and visibility. This necessitates lowering the product height to minimize the impact on the vehicle's exterior and air resistance. Additionally, as LiDAR must be mountable on various platforms—including robots and drones as well as automobiles—miniaturized and lightweight LiDAR is being developed.

[0022] However, when using conventional integrated transceiver modules, there is a problem in that the device height (i.e., device size) increases by the sum of the heights of the transceiver module and the transceiver module, and there are significant difficulties regarding height constraints when implementing the LiDAR sensor optical mechanism in accordance with the goal of achieving high performance.

[0023] Furthermore, when using conventional separate transceiver modules, an optical component that reflects the beam emitted from the transceiver is placed in front of the receiver module. Since the beam incident on the receiver module is obscured by the area of ​​this optical component, the signal-to-noise ratio is reduced, which limits object detection. In particular, since LiDAR used in autonomous driving must predict and respond to potential hazards over long distances, accurate object detection over long range is required.

[0024] Furthermore, since LiDAR applied to autonomous vehicles must provide accurate data even in various surrounding environments such as road vibrations, it must operate consistently under environmental conditions such as vibration and shock, and to this end, durability must also be guaranteed.

[0025] To solve the aforementioned problems, there is a need to develop a LiDAR device that can reduce device size and improve long-range object detection performance and durability.

[0026] In addition, technologies for detecting smoke and suppressing fires in their early stages are currently being researched. Representative technologies for detecting fire smoke include optical smoke detectors and camera image analysis.

[0027] Optical smoke detectors detect smoke floating in the air by utilizing light scattering or absorption phenomena. There are two methods: the light scattering method, which detects the phenomenon of smoke particles scattering light rays, and the light blocking method, which measures the degree to which smoke particles absorb or block light rays.

[0028] Optical smoke detectors of this structure can detect smoke immediately when it occurs, making them advantageous for early fire suppression; they are relatively inexpensive, easy to install and maintain, and enable real-time fire detection through continuous monitoring.

[0029] However, optical smoke detectors can generate false alarms due to non-fire factors such as dust, haze (fog), and water vapor, and due to limitations in hardware detection capabilities, they are effective only within a limited range and suffer from insufficient coverage in large spaces or complex structures.

[0030] Camera image analysis detects the physical characteristics of smoke caused by a fire by analyzing the image, and is primarily applied to detect the movement, color changes, and texture of smoke by combining image processing algorithms and artificial intelligence.

[0031] Such camera image analysis offers good space efficiency by allowing a wider area to be monitored with a single device via a camera, and enables the identification of the location and progression of a fire by analyzing physical characteristics such as the direction, concentration, and speed of smoke.

[0032] However, camera image analysis has drawbacks, such as reduced detection performance due to lighting conditions (e.g., dark environments) or visibility limitations (e.g., obstacles), sensitivity to changes in natural light (e.g., sunrise or passing clouds) or shadows, and decreased detection accuracy when fire smoke is sparse or the distance from the camera.

[0033] Furthermore, camera video analysis requires significant computational resources and high-performance processing speeds when analyzing high-resolution images, which increases system installation costs. Above all, there are limitations in that the use of cameras raises privacy issues regarding the monitored subjects.

[0034] Therefore, a solution is needed to resolve these problems and enable early fire suppression through the detection of fire smoke.

[0035] The problem to be solved in the present disclosure is to provide a high-resolution distance measuring device that includes two light-transmitting modules that each emit laser light of different wavelength bands, and two sensors that each receive light by reflecting one reflected light through a scanning mirror through a bandpass filter while transmitting the other reflected light through a bandpass filter, thereby securing the maximum detection distance without light loss to improve resolution, improving durability by eliminating driving parts other than the scanning mirror, and minimizing the product height.

[0036] In addition, the present invention provides a lidar device having two light-transmitting modules that can effectively improve lidar performance by effectively removing dark areas while minimizing equipment costs, by providing two light-transmitting modules arranged vertically and two light-receiving modules arranged opposite to the light-transmitting modules based on a scanning mirror, wherein one of the light-transmitting modules is positioned to emit a laser beam off-center from the central axis.

[0037] In addition, the present invention aims to provide a LiDAR device having a left-right arranged transmitting and receiving module, which can reduce the device size compared to a stacked structure and improve long-distance object detection performance and durability by arranging the transmitting and receiving parts to face each other left and right with respect to the scanning mirror part and placing a virtual aperture at the front of the target object, and converting the laser light emitted from the light source into a linear laser beam through at least one lens and reflecting it through the scanning mirror part.

[0038] In addition, the objective of the present invention is to provide a fire smoke detection device using a LiDAR sensor capable of detecting fire smoke with high precision while overcoming spatial and privacy constraints, and a method applied thereto.

[0039] The purposes of the embodiments of the present invention are not limited to those mentioned above, and other unmentioned purposes will be clearly understood by those skilled in the art from the description below.

[0040] As a technical means for achieving the aforementioned technical problem, according to the first aspect of the present disclosure, a light transmitting unit comprising: a first light transmitting module that emits a first laser light in a first wavelength band and converts it into a linear first laser beam for output; and a second light transmitting module that emits a second laser light in a second wavelength band different from the first laser light and converts it into a linear second laser beam for output; and a scanning mirror unit that respectively reflects and emits the first laser beam and the second laser beam output through the light transmitting unit to scan a preset scanning angle area, and respectively incidents and reflects a first reflected light reflected by a target object through the first laser beam and a second reflected light reflected by a target object through the second laser beam. A high-resolution distance measuring device may be provided, comprising: a light receiving unit positioned opposite to the light transmitting unit based on the scanning mirror unit, which reflects and receives the first reflected light reflected through the scanning mirror unit and transmits and receives the second reflected light reflected through the scanning mirror unit; and a housing unit in which the light transmitting unit, the scanning mirror unit, and the light receiving unit are installed.

[0041] In addition, according to an embodiment of the present invention, the first light transmitting module and the second light transmitting module may be provided as a high-resolution distance measuring device configured in an upper and lower arrangement structure.

[0042] Additionally, according to an embodiment of the present invention, a high-resolution distance measuring device may be provided, comprising: a module housing having a rear end portion having a cavity portion and a front end portion having a triangular shape; a first light source provided at the upper rear end of the module housing to emit the first laser light toward the central axis of the first light-transmitting lens; at least one first lens provided inside the module housing to convert the first laser light into the first laser beam in a linear form; a second light source provided at the lower rear end of the module housing to emit the second laser light toward the central axis of the second light-transmitting lens; and at least one second lens to convert the second laser light into the second laser beam in a linear form.

[0043] Additionally, according to an embodiment of the present invention, the light receiving unit may be provided with a high-resolution distance measuring device comprising: at least one third lens that collects the first reflected light and the second reflected light reflected through the scanning mirror unit; any one of a filter selected from a long-pass filter, a short-pass filter, and a band-pass filter, wherein the incident surface is coated with HR (High-reflection) optical coating, the filter reflects the first reflected light in the first wavelength band, and transmits the second reflected light in the second wavelength band; a first sensor disposed at a position corresponding to the center axis of the light receiving lens and receiving the first reflected light reflected through the band-pass filter; and a second sensor disposed at a position corresponding to the center axis of the light receiving lens and receiving the second reflected light transmitted through the band-pass filter.

[0044] Additionally, according to an embodiment of the present invention, a high-resolution distance measuring device may be provided, comprising: a module housing having a rear end portion having a cavity portion and a front end portion having a triangular shape; a first light source provided at the upper rear end of the module housing to emit the first laser light toward the central axis of the first light-transmitting lens; at least one first lens provided inside the module housing to convert the first laser light into the first laser beam in a linear form; a second light source provided at the lower rear end of the module housing to emit the second laser light by decentering it at the central axis of the second light-transmitting lens; and at least one second lens to convert the second laser light into the second laser beam in a linear form.

[0045] Additionally, according to an embodiment of the present invention, the light receiving unit may be provided with a high-resolution distance measuring device comprising: at least one third lens that collects the first reflected light and the second reflected light reflected through the scanning mirror unit; any one of a filter selected from a long-pass filter, a short-pass filter, and a band-pass filter, wherein the incident surface is coated with HR (High-reflection) optical coating, the filter reflects the first reflected light in the first wavelength band, and transmits the second reflected light in the second wavelength band; a first sensor disposed at a position corresponding to the center axis of the light receiving lens and receiving the first reflected light reflected through the band-pass filter; and a second sensor disposed at a position decentered from the center axis of the light receiving lens and receiving the second reflected light transmitted through the band-pass filter.

[0046] Additionally, according to an embodiment of the present invention, a high-resolution distance measuring device may be provided, comprising: a module housing having a rear end portion having a cavity portion and a front end portion having a triangular shape; a first light source provided at the upper rear end of the module housing to emit the first laser light to an upper region of the first light-transmitting lens center axis; at least one first lens provided inside the module housing to convert the first laser light into a linear first laser beam; a second light source provided at the lower rear end of the module housing to emit the second laser light to a lower region of the second light-transmitting lens center axis; and at least one second lens to convert the second laser light into a linear second laser beam.

[0047] Additionally, according to an embodiment of the present invention, the light receiving unit may be provided with a high-resolution distance measuring device comprising: at least one third lens that collects the first reflected light and the second reflected light reflected through the scanning mirror unit; any one of a filter selected from a long-pass filter, a short-pass filter, and a band-pass filter, wherein the incident surface is coated with HR (High-reflection) optical coating, the filter reflects the first reflected light in the first wavelength band, and transmits the second reflected light in the second wavelength band; a first sensor disposed at a position corresponding to an upper region of the center axis of the light receiving lens and receiving the first reflected light reflected through the band-pass filter; and a second sensor disposed at a position corresponding to a lower region of the center axis of the light receiving lens and receiving the second reflected light transmitted through the band-pass filter.

[0048] According to a second aspect of the present disclosure, a light transmitting unit comprising: a first light transmitting module that emits a first laser beam, converts it into a linear first laser beam, and outputs it to a central axis; and a second light transmitting module that emits a second laser beam at a position vertically spaced apart from the emission position of the first laser beam, converts it into a linear second laser beam, and outputs it to a position deviating from the central axis; a scanning mirror unit that reflects and emits the first laser beam and the second laser beam output through the light transmitting unit to scan a preset scanning angle area, respectively, and incidents and reflects a first reflected light reflected by a target object through the first laser beam and a second reflected light reflected by a target object through the second laser beam, respectively; and a light receiving unit disposed at a position opposite to the light transmitting unit with respect to the scanning mirror unit and receiving the first reflected light and the second reflected light reflected through the scanning mirror unit. A lidar device having two light-transmitting modules may be provided, comprising: a housing portion in which the light-transmitting portion, the scanning mirror portion, and the light-receiving portion are installed.

[0049] In addition, according to an embodiment of the present invention, the first light-transmitting module and the second light-transmitting module may be provided as a lidar device having two light-transmitting modules arranged in an upper and lower configuration.

[0050] Additionally, according to an embodiment of the present invention, a lidar device having two light-transmitting modules may be provided, wherein the light-transmitting unit comprises: a module housing having a rear end portion having a cavity portion and a front end portion having a triangular shape; a first EEL light source provided at the upper rear end of the module housing to emit the first laser light; at least one first lens provided inside the module housing to convert the first laser light into a linear first laser beam; a second EEL light source provided at the lower rear end of the module housing to emit the second laser light; and at least one second lens to convert the second laser light into a linear second laser beam.

[0051] In addition, according to an embodiment of the present invention, a lidar device having two light-transmitting modules may be provided, wherein the light-transmitting unit is provided inside the module housing and further includes a reflective mirror disposed at the front, rear, or between the first lens and the second lens to reflect the first laser beam and the second laser beam in the direction of the scanning mirror unit.

[0052] In addition, according to an embodiment of the present invention, the scanning mirror unit may be provided with a lidar device having two light-transmitting modules, each comprising a multifaceted mirror having at least two reflective surfaces.

[0053] Additionally, according to an embodiment of the present invention, a lidar device having two light-transmitting modules may be provided, wherein the light-receiving unit comprises: at least one third lens that collects the first reflected light and the second reflected light reflected through the scanning mirror unit; and a sensor that receives the first reflected light and the second reflected light collected through the third lens.

[0054] According to a third aspect of the present disclosure, a lidar device having a left-right type transmitting and receiving module may be provided, comprising: a transmitting unit that emits laser light and converts it into a linear laser beam through at least one lens and outputs it; a scanning mirror unit that reflects and emits the laser beam output through the transmitting unit to scan a preset scanning angle area, and incidents and reflects reflected light reflected by a target object; a receiving unit positioned opposite to the optical unit with respect to the scanning mirror unit and receiving the reflected light reflected through the scanning mirror unit; and a housing unit in which the transmitting unit, the scanning mirror unit, and the receiving unit are installed.

[0055] In addition, according to an embodiment of the present invention, the lidar device may be provided with a left-right arranged transmitting and receiving module further comprising: a first aperture diaphragm provided between the transmitting unit and the scanning mirror unit or at the transmitting side rear end of the scanning mirror unit to adjust the starting point of the field of view of the laser light; and a second aperture diaphragm provided at the receiving side front end of the scanning mirror unit or between the scanning mirror unit and the receiving unit to adjust the starting point of the field of view of the reflected light.

[0056] Additionally, according to an embodiment of the present invention, a lidar device having a left-right type transmitting and receiving module may be provided, wherein the transmitting unit comprises a circular rear end and a triangular front end, wherein a support member is disposed at an orthogonal point between the light source and the scanning mirror unit in the front end; a light source disposed inside the rear end of the module housing to emit the laser light; at least one first lens that converts the laser light emitted from the light source into a linear laser beam; and a reflecting mirror disposed on the inclined surface of the support member, disposed between the front end or rear end of the first lens, or between them, to reflect the laser beam.

[0057] In addition, according to an embodiment of the present invention, a lidar device having a left-right arranged transmitting and receiving module may be provided, wherein the transmitting unit comprises: a module housing provided in a cylindrical shape with an output direction toward the scanning mirror unit; a light source provided inside the rear end of the module housing for emitting the laser light; and at least one first lens for converting the laser light emitted from the light source into a linear laser beam.

[0058] In addition, according to an embodiment of the present invention, the scanning mirror unit may be provided with a lidar device having a left-right arranged transmitting and receiving module including a multifaceted mirror having at least two reflective surfaces.

[0059] In addition, according to an embodiment of the present invention, a lidar device having a left-right arranged light-receiving module may be provided, wherein the light-receiving unit comprises: at least one second lens that collects the reflected light reflected through the scanning mirror unit; and a sensor that receives the reflected light collected through the plurality of second lenses.

[0060] According to the fourth aspect of the present disclosure, a lidar device comprises: a light transmitting unit including a light source and a first lens unit arranged to focus a beam emitted from the light source to form a first virtual aperture; a light receiving unit arranged opposite to the light transmitting unit and aligned with the optical axis of the light transmitting unit to receive reflected light of the beam; and a scanning mirror unit arranged between the light transmitting unit and the light receiving unit to reflect a beam emitted from the light transmitting unit toward a measurement target area and to reflect the reflected light returning from the measurement target area toward the light receiving unit, wherein the light transmitting unit includes a second lens unit arranged to focus a beam emitted from the first virtual aperture to form a second virtual aperture.

[0061] Additionally, the first lens portion may be positioned near the light source, the second lens portion may be positioned far from the light source, the first virtual aperture may be formed between the first lens portion and the second lens portion, and the second virtual aperture may be formed in front of the object side of the second lens portion.

[0062] Additionally, the first lens portion includes at least one lens, and among the at least one lens, the lens positioned closest to the light source may be a convex lens.

[0063] Additionally, the light transmitting unit may further include a reflective mirror that changes the light path emitted from the light source from a first axis to a second axis.

[0064] In addition, the scanning mirror unit may include a plurality of reflective surfaces, and a first reflective surface that reflects a beam emitted from the light transmitting unit and a second reflective surface that reflects the reflected light returning from the measurement target area may be formed to be orthogonal to each other.

[0065] In addition, the light receiving unit includes a light receiving sensor and a third lens unit, and the third lens unit may be arranged so that reflected light emitted through a third virtual aperture formed in front of the object side of the light receiving unit is focused on the light receiving sensor.

[0066] Additionally, the third lens portion includes at least one lens, and among the at least one lens, the lens positioned closest to the scanning mirror portion may have at least one surface that is a concave lens.

[0067] According to the fifth aspect of the present disclosure, a fire smoke detection device using a lidar sensor comprises: a lidar sensor transmitting unit that transmits a laser to a target object; a lidar sensor receiving unit that detects a laser signal received by being reflected from the target object; a fire smoke detection unit that converts the received laser signal into a distance value, executes a corresponding calculation algorithm for each object classification item based on the converted distance value to generate a result value for each calculation algorithm execution, and determines whether the target object is fire smoke based on the result of an integrated analysis of the generated calculation algorithm execution results; an integrated control unit that processes integrated control including an output of fire smoke detection information when fire smoke is detected; and a point cloud unit that displays the distance value and the fire smoke detection information as a three-dimensional graphic.

[0068] In addition, it may further include a scan motor unit that beam steers to detect multiple viewing angles of the surrounding space.

[0069] In addition, the fire smoke detection unit may apply at least two of the following object classification items for determining whether there is fire smoke of the target object: a rate of change over time of the target object, a reflection / transmission rate of the laser signal for the target object, a statistical value of the reflection intensity of the laser signal reflected and received from the target object, and a rate of change in the point amount according to the transmission power control of the laser transmitted to the target object.

[0070] In addition, the rate of change of the target object over time can be measured by an Iterative Closest Point (ICP) algorithm that aligns and analyzes point clouds before and after the time change generated by the point cloud section.

[0071] In addition, the matching targets for the point clouds before and after the time change may be characterized as point clouds corresponding to a predetermined time period optimized for determining that the target object is fire smoke through point cloud matching analysis.

[0072] In addition, the reflection / transmission rate of the laser signal with respect to the target object can be measured by a multi-echo analysis algorithm that analyzes whether the laser signal is reflected from the target object or passes through the target object and is reflected and received by another object located behind the target object.

[0073] In addition, the multi-echo analysis algorithm can align a point cloud for the laser signal reflected from the target object with a point cloud for the laser signal that passes through the target object and is reflected from the rear object, and determine whether there is fire smoke from the target object by determining whether there is shading in the area corresponding to the target object in the aligned point cloud.

[0074] In addition, the reflection intensity statistical value of the laser signal reflected and received from the target object can be measured by a reflection intensity analysis algorithm that analyzes the reflection intensity of the received laser signal separately from the converted distance value.

[0075] In addition, the rate of change in the point amount according to the light transmission power control for the laser transmitting light to the target object can be measured by a point change analysis algorithm based on light transmission power control, which repeats the control of outputting the light transmission power of the lidar sensor transmitter at a high level and the control of outputting it at a low level for a predetermined period of time, and analyzes the point amount at the time when the low-level light transmission power is output.

[0076] According to the sixth aspect of the present disclosure, a method for detecting fire smoke using a lidar sensor comprises, in a fire smoke detection device using a lidar sensor, the steps of: transmitting a laser to a target object; detecting a laser signal reflected from the target object and received; converting the received laser signal into a distance value and, based on the converted distance value, executing a corresponding operation algorithm for each object classification item to generate a result value for each operation algorithm execution; predicting whether the target object is fire smoke as a result of integrated analysis of the generated operation algorithm execution result values; and repeatedly displaying a point cloud in which the distance value and the predicted fire smoke detection information are displayed as a three-dimensional graphic during a predetermined frame interval, and determining that the fire smoke is fire smoke if the ratio predicted as fire smoke for each frame is greater than or equal to a predetermined threshold ratio.

[0077] In addition, it may further include a beam steering step to detect multiple viewing angles for the surrounding space.

[0078] According to one embodiment of the present disclosure, by including two light-transmitting modules that each emit laser light of different wavelength bands and two sensors that each receive light by reflecting one reflected light through a scanning mirror through a bandpass filter while transmitting the other reflected light through a bandpass filter, the maximum detection distance can be secured without light loss to improve resolution, and durability can be improved by eliminating driving parts other than the scanning mirror, as well as the product height can be minimized.

[0079] In addition, the device is equipped with two vertically positioned transmitting modules and a receiving module positioned opposite the transmitting modules based on the scanning mirror, and by positioning one of the transmitting modules to emit a laser beam off-center from the central axis, the device can effectively improve LiDAR performance by effectively removing dark areas while minimizing equipment costs.

[0080] In addition, the transmitting and receiving parts are arranged to face each other from left to right with respect to the scanning mirror, and a virtual aperture is placed at the front of the target object. By converting a laser beam emitted from a light source into a linear laser beam through at least one lens and reflecting it through the scanning mirror, the device size can be reduced compared to a stacked structure, and long-distance object detection performance and durability can be improved.

[0081] In addition, by irradiating a linear laser beam with a vertical field of view, optical components can be minimized to improve device durability. Furthermore, by separating the transmitting and receiving parts so that they face each other on the same horizontal axis, the overall height of the LiDAR device can be reduced. Additionally, by eliminating the light-blocking area, the Signal-to-Noise Ratio can be maximized to improve object detection accuracy over long distances. Moreover, by placing an aperture diaphragm capable of adjusting the starting point of the field of view at the front of the target object, the starting point of the laser beam's divergence angle can be effectively shifted. This allows for a reduction in the height of the scanning mirror and window while maintaining resolution and the vertical field of view, as well as an effective reduction in the overall height of the LiDAR device.

[0082] The effects of the present disclosure are not limited to those mentioned above, and other unmentioned effects will be clearly understood by a person skilled in the art from the description below.

[0083] FIG. 1 is a block diagram of a high-resolution distance measuring device according to a first embodiment of the present invention.

[0084] FIGS. 2 to 13 are drawings for explaining the detailed configuration of a high-resolution distance measuring device according to a first embodiment of the present invention.

[0085] FIG. 14 is a drawing illustrating a lidar device having two light-transmitting modules according to a second embodiment of the present invention.

[0086] FIGS. 15 to 22 are drawings for explaining the detailed configuration of a lidar device having two light-transmitting modules according to a second embodiment of the present invention.

[0087] FIG. 23 is a drawing illustrating a lidar device having a left-right arranged light-receiving module according to a third embodiment of the present invention.

[0088] FIGS. 24 to 33 are drawings for explaining the detailed configuration of a lidar device having a left-right arranged light-receiving module according to a third embodiment of the present invention.

[0089] FIG. 34 is a block diagram schematically illustrating the configuration of a lidar device according to one embodiment.

[0090] FIG. 35 is a simplified perspective view of a lidar device including a light transmitting unit according to one embodiment.

[0091] FIG. 36 is a top view of the lidar device of FIG. 35.

[0092] FIG. 37 is a simplified perspective view of a lidar device including a light transmitting unit according to another embodiment.

[0093] FIG. 38 is a top view of the lidar device of FIG. 37.

[0094] FIG. 39 is a diagram illustrating the path of a beam emitted from a light-emitting unit according to one embodiment.

[0095] FIG. 40 is a drawing for explaining the difference between a light-transmitting unit according to the prior art and a light-transmitting unit according to one embodiment of the present disclosure.

[0096] FIG. 41 is a diagram illustrating the path of reflected light incident on a light receiving unit according to one embodiment.

[0097] FIG. 42 is a drawing for explaining the difference between a light receiving part according to the prior art and a light receiving part according to one embodiment of the present disclosure.

[0098] Figure 43 is a diagram illustrating how the position of a virtual aperture changes according to the window size of a lidar device.

[0099] FIG. 44 is a front view showing the vertical field of view of a beam emitted from a light source.

[0100] FIG. 45 is a front view showing the vertical field of view of a beam incident on a light receiving unit.

[0101] FIG. 46 is a configuration diagram of a fire smoke detection device according to one embodiment of the present invention.

[0102] FIG. 47 is a configuration diagram of a fire smoke detection device according to another embodiment of the present invention.

[0103] FIG. 48 is a detailed configuration diagram showing a more detailed example of the fire smoke detection unit of FIG. 47.

[0104] Figure 49 is an example diagram comparing the smoke detection method of Figure 46 with other methods.

[0105] Fig. 50 is an example diagram showing an example of smoke classification using the smoke detection method of Fig. 49.

[0106] FIG. 51 is an example diagram showing an analysis screen of the first operation algorithm for smoke classification of FIG. 50 as an example.

[0107] FIG. 52 is an example diagram showing the analysis screen of the first operation algorithm of FIG. 51 as another example.

[0108] FIG. 53 is an example diagram showing an analysis screen of the second operation algorithm for smoke classification of FIG. 50 as an example.

[0109] FIG. 54 is an example diagram showing the analysis screen of the second operation algorithm of FIG. 53 as another example.

[0110] FIG. 55 is an example diagram showing an analysis screen of the third operation algorithm for smoke classification of FIG. 50.

[0111] FIG. 56 is a flowchart illustrating a fire smoke detection method according to one embodiment of the present invention.

[0112] The advantages and features of the embodiments of the present invention, and the methods for achieving them, will become clear by referring to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but may be implemented in various different forms. These embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Throughout the specification, the same reference numerals refer to the same components.

[0113] In describing the embodiments of the present invention, specific descriptions of known functions or configurations will be omitted if it is determined that such detailed descriptions could unnecessarily obscure the essence of the invention. Furthermore, the terms described below are defined in consideration of their functions in the embodiments of the present invention, and these definitions may vary depending on the intentions or practices of the user or operator. Therefore, such definitions should be based on the content throughout this specification.

[0114] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0115]

[0116] [1st Example]

[0117] FIG. 1 is a block diagram of a high-resolution distance measuring device according to an embodiment of the present invention, and FIGS. 2 to 13 are drawings for explaining the detailed configuration of a high-resolution distance measuring device according to an embodiment of the present invention.

[0118] Referring to FIGS. 1 to 13, a high-resolution distance measuring device according to the first embodiment of the present invention may include a light transmitting unit (110), a scanning mirror unit (120), a light receiving unit (130), a housing unit (140), etc., as shown in FIGS. 1 and 2.

[0119] The light transmitting unit (110) is a component comprising a first light transmitting module that emits a first laser light in a first wavelength band and converts it into a first laser beam and outputs it, and a second light transmitting module that emits a second laser light in a second wavelength band different from the first laser light and converts it into a second laser beam and outputs it. The first light transmitting module and the second light transmitting module are provided in an upper and lower arrangement structure, and may include a module housing (111), a first light source (112), a first lens (113), a second light source (114), a second lens (115), a reflective mirror (116), etc., as shown in FIGS. 3 to 5.

[0120] Here, the module housing (111) is provided with a rear end having a cavity and a front end in the shape of a triangle, a first light source (112) is placed at the upper part of the rear end having a cavity, a second light source (114) is placed at the lower part of the rear end having a cavity, and a reflective mirror (116) can be placed at an orthogonal point between the first light source (112) and the second light source (114) and the scanning mirror part (120) through a triangular support provided in the front end.

[0121] For example, the support member may be provided with a horizontal cross-section in the shape of a right triangle, with an internal cavity formed for the incidence and reflection of laser light, and may be formed with a first surface facing the light transmitting part (110) being flat, a second surface facing the scanning mirror part (120) being flat, and a third surface connecting the first surface and the second surface at an angle.

[0122] The first surface of the support member is open so that the first laser beam emitted from the first light source (112) and the second laser beam emitted from the second light source (114) are each incident thereon, and a reflective mirror (116) is provided on the third surface, which is an inclined surface, so that the incident first laser beam and the second laser beam are reflected to the scanning mirror part (120) located in the direction of the second surface, thereby allowing the first laser beam and the second laser beam reflected through the reflective mirror (116) to be reflected in the direction of the scanning mirror part (120).

[0123] The first light source (112) is provided at the upper rear end of the module housing (111) and emits a first laser light. It can emit laser light of a first wavelength band (e.g., any one of 905 nm, 940 nm, 1550 nm) having a horizontal angle and a vertical angle. For example, it can emit light having various wavelengths smaller than RF (Radio Frequency) by including an LD (laser diode), and since it can emit high light energy, it can receive reflected light having high energy at the receiving part (150).

[0124] This first light source (112) can be provided in an EEL (Edge-Emitting Laser) or VCSEL (Vertical-Cavity Surface-Emitting Laser) manner. In the case of the EEL method, the first laser light can be emitted from the cross-section (i.e., the edge) of the chip. This allows for easy fiber coupling and can provide high output density in single mode or multi-mode. It has the advantage of being advantageous for long-distance detection due to the small divergence angle of the light source, and is suitable for high-speed scanning and distance measurement due to fast pulse generation.

[0125] In addition, the first light source (112) can emit a first laser light in the direction of the surface of the chip in the case of a VCSEL method, and can simultaneously emit a large amount of light through a 2D array, which can expand the viewing angle and perform high-resolution 3D mapping, and has the advantage of being advantageous for accurate distance measurement and noise reduction due to good wavelength stability.

[0126] The first light source (112) described above can emit a first laser light of a first wavelength band to the first light transmission lens center axis (i.e., the center axis of the first lens (113)) in the first and second forms, and can emit a first laser light of a first wavelength band to the upper region of the first light transmission lens center axis in the third form.

[0127] At least one first lens (113) is provided within the module housing (111) and converts a first laser light emitted from a first light source (112) into a first laser beam in a linear form, so that when the first laser light is irradiated from the first light source (112), it can convert it into a first laser beam in a linear form and output it.

[0128] Here, the first lens (113) is provided inside the module housing (111) and, for example, can include a collimator lens, a telecentric lens, an Ftheta lens, etc., to convert the first laser light into a linear first laser beam and output it.

[0129] The second light source (114) is provided at the lower rear end of the module housing (111) and emits a second laser light. It can emit laser light of a second wavelength band (e.g., one other than the first wavelength band among 905 nm, 940 nm, and 1550 nm) having a horizontal angle and a vertical angle. For example, it can emit light having various wavelengths smaller than RF, including LDs, and can emit high light energy, so the receiving part (130) can receive reflected light having high energy.

[0130] This second light source (114) can be provided in an EEL method or a VCSEL method.

[0131] The second light source (114) described above can emit a second laser light of the second wavelength band at the center axis of the second light-transmitting lens (i.e., the center axis of the second lens (115)) in the first form, emit a second laser light of the second wavelength band by decentering from the center axis of the second light-transmitting lens in the second form, and emit a second laser light of the second wavelength band at the lower region of the center axis of the second light-transmitting lens in the third form.

[0132] At least one second lens (115) is provided within the module housing (111) and converts the second laser light emitted from the second light source (114) into a linear second laser beam, so that when the second laser light is irradiated from the second light source (114), it can convert it into a linear second laser beam and output it.

[0133] Here, the second lens (115) is provided inside the module housing (111) and, for example, can include a collimator lens, a telecentric lens, an f-theta lens, etc., to convert the second laser light into a linear second laser beam and output it.

[0134] The reflective mirror (116) is provided inside the first module housing (111) and is positioned at the front, rear, or between the first lens (113) and the second lens (115) to reflect the first laser beam and the second laser beam in the direction of the scanning mirror unit (120). It is provided on the inclined surface (i.e., the third surface) of the support member and can reflect the first laser beam output from the first light source (112) to the central axis of the first lens (113) and the second laser beam output from the second light source (114) to a position away from the central axis of the second lens (115), respectively, and output them in the direction of the scanning mirror unit (120). For example, a planar reflector, etc., may be provided on the third surface, which is the inclined surface of the support member.

[0135] Accordingly, the first laser light emitted from the first light source (112) and the second laser light emitted from the second light source (114) can each be reflected in the direction of the scanning mirror part (120) through the reflecting mirror (116).

[0136] Here, although the embodiment of the present invention is described as having a reflective mirror (116) provided to reflect the first laser beam and the second laser beam, the reflective mirror (116) described above may be omitted if the output direction of the module housing (111) is provided to face the scanning mirror part (120) (e.g., cylindrical, rectangular, etc.).

[0137] Meanwhile, regarding the first, second, and third forms including the first light source (112) and the second light source (114) in the light-emitting unit (110) described above, in the first form as shown in FIG. 6, a light source 1 that emits a first laser light of a first wavelength band and a light source 2 that emits a second laser light of a second wavelength band may be provided in an upper and lower arrangement structure, and light source 1 and light source 2 may each be positioned at a position corresponding to the central axis of a lens provided at each rear end to emit the first laser light and the second laser light, respectively, and the beam shape at a long distance may appear as shown on the right depending on the arrangement of light source 1 and light source 2.

[0138] In addition, in the second form as illustrated in FIG. 7, a light source 1 that emits a first laser light of a first wavelength band and a light source 2 that emits a second laser light of a second wavelength band may be provided in an upper and lower arrangement structure, and light source 1 may be positioned at a position corresponding to the central axis of a lens provided at the rear end to emit the first laser light, and light source 2 may be positioned at a position decentered from the central axis of a lens provided at the rear end to emit the second laser light, and the beam shape at a long distance may appear as shown on the right depending on the arrangement of light source 1 and light source 2.

[0139] In addition, in the third form as illustrated in FIG. 8, a light source 1 that emits a first laser light of a first wavelength band and a light source 2 that emits a second laser light of a second wavelength band may be provided in an upper and lower arrangement structure, and light source 1 may be placed in the upper region of the lens center axis provided at the rear end (i.e., the upper region adjacent to the lens center axis) to emit the first laser light, and light source 2 may be placed in the lower region of the lens center axis provided at the rear end (i.e., the lower region adjacent to the lens center axis) to emit the second laser light, and the beam shape at a long distance may appear as shown on the right depending on the arrangement of light source 1 and light source 2.

[0140] Here, the first laser beam of light source 1 can irradiate the lower region based on the center of the target, and the second laser beam of light source 2 can irradiate the upper region based on the center of the target.

[0141]

[0142] The scanning mirror unit (120) is a component that reflects and emits a first laser beam and a second laser beam output through the transmitting unit (110) to scan a preset scanning angle area, and incidents and reflects a first reflected light reflected by a target object through the first laser beam and a second reflected light reflected by a target object through the second laser beam, respectively, and may include, for example, a multifaceted mirror having at least two reflective surfaces.

[0143] Through such multifaceted mirrors, the first laser light and the second laser light can be reflected and emitted in both directions along the vertical axis to have an omnidirectional horizontal field of view.

[0144] This scanning mirror unit (120) can scan a pre-set scanning angle area (scanning area) by reflecting a linear first laser beam and a second laser beam output through a light transmitting unit (110) at a pre-set horizontal angle, and can reflect the first reflected light and the second reflected light received through scanning at a pre-set angle to be incident on a light receiving unit (130), and operates in an electronic manner, and can be provided as, for example, a reflective mirror type, a rotating type, etc.

[0145] Here, in the case of a rotating type, each laser beam is emitted (transmitted) to the surroundings while rotating at high speed, and each reflected light from the target object is collected (received), and each reflected light can be reflected and incident in the direction of the receiving part (130).

[0146] In addition, since the scanning mirror part (120) has at least two or more surfaces (reflective surfaces), it can reflect at an angle (direction) corresponding to at least two surfaces, and the scanning efficiency can be improved.

[0147] The multifaceted mirror provided in the scanning mirror unit (120) as described above may have the light-transmitting mirror surface and the light-receiving mirror surface arranged vertically.

[0148] The light receiving unit (130) is positioned opposite to the light transmitting unit (110) with respect to the scanning mirror unit (120), and is configured to receive a first reflected light reflected through the scanning mirror unit (120) and to receive a second reflected light reflected through the scanning mirror unit (120) by transmitting it, and may include a third lens (131), a bandpass filter (132), a first sensor (133), a second sensor (134), etc. as shown in FIGS. 3 to 5.

[0149] Here, at least one third lens (131) is provided, and it may include a condensing lens that condenses the first reflected light and the second reflected light reflected through the scanning mirror unit (120), and the first reflected light and the second reflected light reflected through the scanning mirror unit (120), respectively.

[0150] Here, the condensing lens can refract and condense reflected light, including, for example, an Ftheta lens.

[0151] A bandpass filter (132) reflects a first reflected light of a first wavelength band and transmits a second reflected light of a second wavelength band. It is positioned at an angle of 45 degrees relative to the light incident axis, and its incident surface may be coated with HR (High-reflection) optical coating. Accordingly, it can reflect the first reflected light of the first wavelength band so that it is incident on the first sensor (133) and transmit the second reflected light of the second wavelength band so that it is incident on the second sensor (133).

[0152] Here, although the embodiment of the present invention has been described as applying a bandpass filter (132), it is of course possible to apply a longpass filter having an HR optically coated incident surface that transmits reflected light of a wavelength band longer than a specific wavelength band while reflecting reflected light of a short wavelength band, or to apply a shortpass filter having an HR optically coated incident surface that transmits reflected light of a wavelength band shorter than a specific wavelength band while reflecting reflected light of a long wavelength band.

[0153] The first sensor (133) receives the first reflected light reflected through the bandpass filter (132), and is positioned perpendicular to the light incident axis incident on the bandpass filter (132) to receive the first reflected light of the first wavelength band reflected through the bandpass filter (132).

[0154] In the first and second forms, this first sensor (133) can be positioned at a location corresponding to the center axis of the light-receiving lens, and in the third form, it can be positioned at a location corresponding to the upper region of the center axis of the light-receiving lens.

[0155] The second sensor (134) receives the second reflected light transmitted through the bandpass filter (132), and is positioned horizontally with respect to the light incident axis of the bandpass filter (132) to receive the second reflected light of the second wavelength band transmitted through the bandpass filter (132).

[0156] In the first form, this second sensor (134) may be positioned at a location corresponding to the center axis of the light-receiving lens, in the second form, at a location decentered from the center axis of the light-receiving lens, and in the third form, at a location corresponding to the lower region of the center axis of the light-receiving lens.

[0157] The distance between the high-resolution distance measuring device and the object according to the embodiment of the present invention can be calculated using each signal corresponding to the first reflected light and the second reflected light received by the first sensor (133) and the second sensor (134), respectively, as described above. For example, the distance between the high-resolution distance measuring device and the object according to the embodiment of the present invention can be calculated using the time taken for the light-emitting unit (110) to emit laser light according to the TOF (Time Of Flight) method, and for the light to be reflected from the object and return to the light-receiving unit (130).

[0158] In addition, the first sensor (133) and the second sensor (134) can calculate the distance between the high-resolution distance measuring device according to the embodiment of the present invention and the object by using the phase of each signal that is reflected from the object and returned to the light receiving unit (130) after the light transmitting unit (110) emits each laser light that is continuously modulated with a specific frequency according to the PS (Phase Shift) method.

[0159] Meanwhile, the light receiving unit (130) described above may be configured, for example, as shown in FIG. 9. When describing in detail the first, second, and third forms including the first sensor (133) and the second sensor (134) in the light receiving unit (130), in the first form, as shown in FIG. 10, the first sensor can receive reflected light of the first wavelength band reflected through a bandpass filter, and the second sensor can receive reflected light of the second wavelength band transmitted through a bandpass filter, and the first sensor and the second sensor can be positioned at a location corresponding to the central axis of the lens unit provided at the front.

[0160] In addition, in the second form, as illustrated in FIG. 11, the first sensor can receive reflected light of a first wavelength band reflected through a bandpass filter, and the second sensor can receive reflected light of a second wavelength band transmitted through a bandpass filter; the first sensor can be positioned at a position corresponding to the central axis of the lens part provided at the front, and the second sensor can be positioned at a position decentered from the central axis of the lens part provided at the front.

[0161] In addition, in the third embodiment, as illustrated in FIG. 12, sensor 1 can receive reflected light of a first wavelength band reflected through a bandpass filter, and sensor 2 can receive reflected light of a second wavelength band transmitted through a bandpass filter; sensor 1 can be positioned at a location corresponding to the upper region of the central axis of the lens part provided at the front (i.e., the upper region adjacent to the central axis of the lens part), and sensor 2 can be positioned at the lower region of the lens part provided at the front (i.e., the lower region adjacent to the central axis of the lens part).

[0162] Meanwhile, it can be seen that the high-resolution distance measuring device according to the embodiment of the present invention described above can improve resolution by doubling the number of sensor channels in the third form compared to the conventional method, as illustrated in FIG. 13.

[0163] The housing part (140) is a component in which the light transmitting part (110), the scanning mirror part (120), and the light receiving part (130) are installed, and, for example, is provided in the shape of a rectangular box, so that each component of the high-resolution distance measuring device according to the embodiment of the present invention can be installed therein.

[0164] The high-resolution distance measuring device according to the embodiment of the present invention as described above can double the number of channels by using two sensors with a bandpass filter provided on the light receiving side that reflects a specific wavelength range, and can detect the entire area where light is irradiated by solving the problem of not being able to detect an important central area due to a gap between sensors when using two sensors, and can improve resolution by increasing the number of channels while minimizing the product height without the number of channels being limited by the sensor specifications.

[0165] In addition, the high-resolution distance measuring device according to the embodiment of the present invention has the advantage of being able to reduce costs without having to provide sensors equal to the number of channels, as well as provide high resolution, and improve device durability by not having driving parts other than the scanning mirror, increase light intensity by using two light sources, increase detectable distance, and fully receive the optical power of one light source element in one sensor by applying HR optical coating to the bandpass filter.

[0166] Accordingly, according to an embodiment of the present invention, by including two light-transmitting modules that each emit laser light of different wavelength bands and two sensors that each receive light by reflecting one reflected light through a scanning mirror through a bandpass filter while transmitting another reflected light through a bandpass filter, the maximum detection distance can be secured without light loss to improve resolution, and durability can be improved by eliminating driving parts other than the scanning mirror, as well as the product height can be minimized.

[0167] Although various embodiments of the present invention have been presented and described in the above description, the present invention is not necessarily limited thereto, and those skilled in the art will readily understand that various substitutions, modifications, and changes are possible within the scope of the technical concept of the present invention.

[0168]

[0169] [2nd Example]

[0170] Referring to FIGS. 14 to 22, a lidar device having two light-transmitting modules according to a second embodiment of the present invention may include a light-transmitting unit (110), a scanning mirror unit (120), a light-receiving unit (130), a housing unit (140), etc. as shown in FIGS. 14 to 22.

[0171] The transmitting unit (110) is a component comprising a first transmitting module that emits a first laser light, converts it into a linear first laser beam, and outputs it to a central axis, and a second transmitting module that emits a second laser light at a position vertically spaced apart from the emission position of the first laser light, converts it into a linear second laser beam, and outputs it to a position deviating from the central axis, and may include a module housing (111), a first EEL light source (112), a first lens (113), a second EEL light source (114), a second lens (115), a reflective mirror (116), etc.

[0172] Here, the module housing (111) is provided with a rear end having a cavity and a front end in the shape of a triangle, a first EEL light source (112) is placed at the upper part of the rear end having a cavity, a second EEL light source (114) is placed at the lower part of the rear end having a cavity, and a reflective mirror (116) can be placed at an orthogonal point between the first EEL light source (112) and the second EEL light source (114) and the scanning mirror part (120) through a triangular support provided in the front end.

[0173] For example, the support member may be provided with a horizontal cross-section in the shape of a right triangle, with an internal cavity formed for the incidence and reflection of laser light, and may be formed with a first surface facing the light transmitting part (110) being flat, a second surface facing the scanning mirror part (120) being flat, and a third surface connecting the first surface and the second surface at an angle.

[0174] The first surface of the support member is open so that the first laser beam emitted from the first EEL light source (112) and the second laser beam emitted from the second EEL light source (114) are each incident thereon, and a reflective mirror (116) is provided on the third surface, which is an inclined surface, so that the incident first laser beam and second laser beam are reflected to the scanning mirror part (120) located in the direction of the second surface, thereby allowing the first laser beam and second laser beam reflected through the reflective mirror (116) to be reflected in the direction of the scanning mirror part (120).

[0175] The first EEL light source (112) is provided at the upper rear end of the module housing (111) and emits a first laser light, and can emit laser light having a horizontal angle of view and a vertical angle of view, for example, including an LD (laser diode), it can emit light having various wavelengths that are smaller than RF (Radio Frequency), and since it can emit high light energy, it can receive reflected light having high energy at the light receiving part (150).

[0176] This first EEL light source (112) can emit a first laser light from the cross-section (i.e., edge) of the chip including the EEL, which can provide high power density in single mode or multi-mode while facilitating optical fiber coupling, has the advantage of being advantageous for long-distance detection due to the small divergence angle of the light source, is suitable for high-speed scanning and distance measurement due to fast pulse generation, and has the advantage of being able to emit light with a higher output than VCSEL.

[0177] At least one first lens (113) is provided within the module housing (111) and converts the first laser light emitted from the first EEL light source (112) into a linear first laser beam, so that when the first laser light is irradiated from the first EEL light source (112), it can convert it into a linear first laser beam and output it.

[0178] Here, the first lens (113) is provided inside the module housing (111) and, for example, can include a collimator lens, a telecentric lens, an Ftheta lens, etc., to convert the first laser light into a linear first laser beam and output it.

[0179] The second EEL light source (114) is provided at the lower rear end of the module housing (111) to emit a second laser light. The second laser light can be emitted from the cross-section (i.e., edge) of the chip including the EEL. This allows for easy fiber coupling and can provide high output density in single mode or multi-mode. It has the advantage of being advantageous for long-distance detection due to the small divergence angle of the light source, and is suitable for high-speed scanning and distance measurement due to fast pulse generation. It also has the advantage of being able to emit light with a higher output than a VCSEL.

[0180] At least one second lens (115) is provided within the module housing (111) and converts the second laser light emitted from the second EEL light source (114) into a linear second laser beam, so that when the second laser light is irradiated from the second EEL light source (114), it can convert it into a linear second laser beam and output it.

[0181] Here, the second lens (115) is provided inside the module housing (111) and, for example, can include a collimator lens, a telecentric lens, an Ftheta lens, etc., to convert the second laser light into a linear second laser beam and output it.

[0182] The reflective mirror (116) is provided inside the first module housing (111) and is positioned at the front, rear, or between the first lens (113) and the second lens (115) to reflect the first laser beam and the second laser beam in the direction of the scanning mirror unit (120). It is provided on the inclined surface (i.e., the third surface) of the support member and can reflect the first laser beam output from the first EEL light source (112) to the central axis of the first lens (113) and the second laser beam output from the second EEL light source (114) to a position away from the central axis of the second lens (115), respectively, and output them in the direction of the scanning mirror unit (120). For example, a planar reflector, etc., may be provided on the third surface, which is the inclined surface of the support member.

[0183] Accordingly, the first laser light emitted from the first EEL light source (112) and the second laser light emitted from the second EEL light source (114) can each be reflected in the direction of the scanning mirror part (120) through the reflecting mirror (116).

[0184] Of course, in another form in which the transmitting unit (110), the scanning mirror unit (120), and the receiving unit (130) are arranged on the same axis as shown in FIGS. 4 and 5 and the transmitting unit (110) outputs a linear first laser beam and a second laser beam to the scanning mirror unit (120), the module housing (111) described above may be provided such that its output direction is toward the scanning mirror unit (120) (e.g., cylindrical, rectangular, etc.), and the reflective mirror (116) described above may be omitted.

[0185] The first light-transmitting module and the second light-transmitting module provided in the light-transmitting unit (110) as described above may be provided in an upper and lower arrangement structure, wherein the first EEL light source (112) is provided at the upper rear end of the module housing (111) to emit a first laser light, and the second EEL light source (114) is provided at the lower rear end of the module housing (111) to emit a second laser light, thereby allowing the second laser light to be emitted at a position vertically spaced apart from the emission position of the first laser light.

[0186] Specifically, as illustrated in FIG. 6, the first EEL light source (112, EEL1) is positioned so that its central axis coincides with that of the first lens (113), and the second EEL light source (114, EEL2) can be positioned to move away from the central axis of the second lens (115), and the amount to be moved to remove the dark area can be calculated by using the emitter size of each EEL light source, the gap between emitters, etc.

[0187] That is, by decentering one of the two EELs from the lens center axis as shown on the left side of Fig. 6, the shape of the beam formed on the target object can be shifted as shown on the right side of Fig. 6 (beam shape at long distance) to eliminate dark areas.

[0188] As described above, when one of the two EELs is decentered from the lens center axis, a dark area occurs in a conventional lidar due to the gap between the emitters, but in the present invention, as shown in FIG. 7, the dark area can be effectively eliminated through EEL decentering, and since two EELs are used, the amount of light is doubled, so the maximum detection distance can be effectively increased.

[0189] To explain specifically how to set the decenter size of the EEL with reference to FIG. 8, the degree of decentering of the EEL can be set according to the aperture size of the EEL element and the gap between the apertures. For example, if the aperture height of the EEL element is a, the width is b, and the gap between the apertures is c, then the EEL2 can be decentered and moved within the range of length c to length (ac) to remove the dark area.

[0190] At this time, as shown in FIG. 8, when EEL2 is moved by c (①), when EEL2 is moved by (ac) (②), and when EEL2 is moved by (a+c) / 2 (③), the expected beam shape suitable for the target object may appear as ①, ②, and ③.

[0191] To explain the results of simulating the light beam illuminance shape suitable for a target object using a LiDAR device having two light-transmitting modules according to the embodiment of the present invention as described above, as shown in FIG. 9, it can be seen that when only one light-transmitting module (Tx) is used conventionally, dark areas occur between the beam shapes, and when two light-transmitting modules (2 Tx) are used, although there is an advantage that the light power is doubled, dark areas still occur. On the other hand, as in the embodiment of the present invention, when decentering is applied to one of the two light-transmitting modules' EELs, it can be seen that the light power is doubled and dark areas can also be eliminated.

[0192] The scanning mirror unit (120) is a component that reflects and emits a first laser beam and a second laser beam output through the transmitting unit (110) to scan a preset scanning angle area, and incidents and reflects a first reflected light reflected by a target object through the first laser beam and a second reflected light reflected by a target object through the second laser beam, respectively, and may include, for example, a multifaceted mirror having at least two reflective surfaces.

[0193] Through such multifaceted mirrors, the first laser light and the second laser light can be reflected and emitted in both directions along the vertical axis to have an omnidirectional horizontal field of view.

[0194] This scanning mirror unit (120) can scan a pre-set scanning angle area (scanning area) by reflecting a linear first laser beam and a second laser beam output through a light transmitting unit (110) at a pre-set horizontal angle, and can reflect the first reflected light and the second reflected light received through scanning at a pre-set angle to be incident on a light receiving unit (130), and operates in an electronic manner, and can be provided as, for example, a reflective mirror type, a rotating type, etc.

[0195] Here, in the case of a rotating type, each laser beam is emitted (transmitted) to the surroundings while rotating at high speed, and each reflected light from the target object is collected (received), and each reflected light can be reflected and incident in the direction of the receiving part (130).

[0196] In addition, since the scanning mirror part (120) has at least two or more surfaces (reflective surfaces), it can reflect at an angle (direction) corresponding to at least two surfaces, and the scanning efficiency can be improved.

[0197] The multifaceted mirror provided in the scanning mirror unit (120) as described above may have the light-transmitting mirror surface and the light-receiving mirror surface arranged vertically.

[0198] The light receiving unit (130) is positioned opposite to the light transmitting unit (110) with respect to the scanning mirror unit (120) and is a component that receives the first reflected light and the second reflected light reflected through the scanning mirror unit (120), and may include a third lens, a sensor, etc.

[0199] Here, at least one third lens is provided, and may include a condensing lens that condenses the first reflected light and the second reflected light reflected through the scanning mirror unit (120).

[0200] Here, the condensing lens can refract and condense reflected light, including, for example, an Ftheta lens.

[0201] The sensor receives the first reflected light and the second reflected light collected through the third lens, and can calculate the distance between the lidar device and the object according to the embodiment of the present invention using a signal corresponding to the received reflected light. For example, the distance between the lidar device and the object according to the embodiment of the present invention can be calculated using the time taken for the laser light to be reflected from the object and returned to the receiving unit (130) after the transmitting unit (110) emits the laser light according to the TOF (Time Of Flight) method.

[0202] In addition, the sensor can calculate the distance between the LiDAR device according to the embodiment of the present invention and the object by using the phase of each signal that is reflected from the object and returned to the receiving unit (130) after the transmitting unit (110) emits each laser light that is continuously modulated with a specific frequency according to the PS (Phase Shift) method.

[0203] The housing part (140) is a component in which the light transmitting part (110), the scanning mirror part (120), and the light receiving part (130) are installed, and, for example, is provided in the shape of a rectangular box, so that each component of the lidar device according to the embodiment of the present invention can be installed therein.

[0204] Accordingly, according to an embodiment of the present invention, two vertically arranged light-transmitting modules and a light-receiving module positioned opposite to the light-transmitting modules with respect to a scanning mirror are provided, and by arranging one of the light-transmitting modules to emit a laser beam away from the central axis, the dark area can be effectively removed while minimizing equipment costs, thereby effectively improving LiDAR performance.

[0205] Although various embodiments of the present invention have been presented and described in the above description, the present invention is not necessarily limited thereto, and those skilled in the art will readily understand that various substitutions, modifications, and changes are possible within the scope of the technical concept of the present invention.

[0206]

[0207] [3rd Example]

[0208] FIG. 23 is a drawing illustrating a lidar device having a left-right arranged light-receiving module according to a third embodiment of the present invention, and FIG. 24 to 33 are drawings for explaining the detailed configuration of a lidar device having a left-right arranged light-receiving module according to a third embodiment of the present invention.

[0209] Referring to FIGS. 23 to 33, a lidar device having a left-right arranged light-receiving module according to an embodiment of the present invention may include a light-transmitting unit (110), a scanning mirror unit (120), a light-receiving unit (130), a housing unit (140), a first aperture (150), a second aperture (160), etc.

[0210] The transmitting unit (110, Tx) is a component that emits laser light and converts it into a linear laser beam through at least one lens to output it. In one form as shown in FIGS. 25 and 26, it may include a module housing (111), a light source (112a), at least one first lens (113a), a reflective mirror (114a), etc., so as to be able to output a linear laser beam by reflecting from a first vertical axis to a second vertical axis. In another form as shown in FIGS. 27 and 28, it may include a module housing (111), a light source (112a), at least one first lens (113a), etc., so as to be able to output a linear laser beam on the same axis.

[0211] Here, the module housing (111) is provided with a circular rear section and a triangular front section, and a support member (111a) is disposed at an orthogonal point of the light source (112) and the scanning mirror section (120) in the front section. This support member (111a) is provided with a horizontal cross-section in the shape of a right triangle, for example, having an internal cavity formed for the incidence and reflection of laser light, and may be formed with a first surface facing the light transmitting section (110) being flat, a second surface facing the scanning mirror section (120) being flat, and a third surface connecting the first surface and the second surface at an angle.

[0212] The first surface of the support member (111a) is open so that a laser beam emitted from a light source (112a) is incident, and a reflective mirror (114a) is provided on the third surface, which is an inclined surface, so that the incident laser beam is reflected to a scanning mirror unit (120) located in the direction of the second surface, thereby allowing the laser beam reflected through the reflective mirror (114a) to be reflected in the direction of the scanning mirror unit (120).

[0213] That is, the support member (111a) can be positioned so that the central part of the third side is orthogonal to the point where the front central part of the light transmission part (110) and the rear central part of the scanning mirror part (120) extend.

[0214] The light source (112a) is a module that emits laser light and is provided inside the rear end of the module housing (111). It can emit laser light with a horizontal angle of view and a vertical angle of view, and, for example, can emit light with various wavelengths that are smaller than RF (Radio Frequency) by including an LD (laser diode). Since it can emit high light energy, it can receive reflected light with high energy at the light receiving part (130).

[0215] At least one first lens (113a) is a lens that converts laser light emitted from a light source (112a) into a linear laser beam, and when laser light is irradiated from the light source (112a), it can convert it into a linear laser beam and output it.

[0216] Here, at least one first lens (113a) may include, for example, a collimator lens, a telecentric lens, an Ftheta lens, etc., and can convert and output laser light into a linear laser beam.

[0217] The reflective mirror (114a, Mirror) is provided on the inclined surface of the support member (111a) and is a mirror that reflects a laser beam by being positioned at the front or rear end or between the first lens (113a). It is provided on the inclined surface (i.e., the third surface) of the support member (111a) and can reflect a laser beam output from the light source (112a) along the first vertical axis and output it along the second vertical axis. For example, it may include a planar reflector, and can be provided on the third surface, which is the inclined surface of the support member (111a). Accordingly, the laser light emitted from the light source (112a) can be reflected through the reflective mirror (114a) toward the scanning mirror unit (120).

[0218] Of course, in another form in which the transmitting unit (110), the scanning mirror unit (120), and the receiving unit (130) are arranged on the same axis and a linear laser beam is output from the transmitting unit (110) to the scanning mirror unit (120), the module housing (111) described above may be provided such that its output direction is toward the scanning mirror unit (120) (e.g., cylindrical, rectangular, etc.), and the reflective mirror (114a) described above may be omitted.

[0219] The light paths of the light source (110), the first aperture aperture (150), and the scanning mirror (120) as described above are as shown in FIG. 29.

[0220] The scanning mirror unit (120) is a component that reflects and emits a linear laser beam output through the transmitting unit (110) to scan a preset scanning angle area, and incidents and reflects reflected light reflected by a target object. It may include a multifaceted mirror having at least two reflective surfaces, and the laser light can be reflected and emitted in both directions on the second vertical axis to have an omnidirectional horizontal field of view through the multifaceted mirror, and the starting point of the field of view of the laser light can be adjusted and emitted through the first aperture (150).

[0221] This scanning mirror unit (120) can scan a pre-set scanning angle area (scanning area) by using a linear laser beam output through a light transmitting unit (110) to reflect it horizontally at a preset angle, and can reflect the reflected light received through scanning at a preset angle to be incident on a light receiving unit (130). It operates in an electronic manner and can be provided, for example, as a reflective mirror type, a rotating type, etc.

[0222] Here, in the case of a rotating type, after emitting (transmitting) laser light to the surroundings while rotating at high speed, the transmitted laser light is collected (received) from the target object and reflected light can be reflected and incident in the direction of the receiving part (130).

[0223] In addition, since the scanning mirror part (120) has at least two or more surfaces (reflective surfaces), it can reflect at an angle (direction) corresponding to at least two surfaces, and the scanning efficiency can be improved.

[0224] The multifaceted mirror provided in the scanning mirror unit (120) as described above may have the light-transmitting mirror surface and the light-receiving mirror surface arranged vertically.

[0225] The first aperture (150) is provided between the transmitting unit (110) and the scanning mirror unit (120) or at the rear end of the transmitting side of the scanning mirror unit (120) to control the starting point of the laser light's field of view. The first aperture (130) can control the amount and path of the laser light by controlling the size of the path (i.e., hole) through which the laser light passes, thereby enabling control of light quantity, field of view (angle of view), depth of field, and direction of light. When provided at the rear end of the transmitting unit (110) (i.e., between the transmitting unit (110) and the scanning mirror unit (120)), the starting point of the field of view for the vertical field of view of the laser beam output through the transmitting unit (110) can be moved, allowing the product height to be lowered while maintaining a wide vertical field of view and the laser beam to be emitted to the scanning mirror unit (120).

[0226] In addition, when the first aperture (150) is provided at the front end of the target object (i.e., the rear end of the light transmission side of the scanning mirror part (120), it can move the starting point of the angle of view for the vertical field of view of the laser beam reflected through the scanning mirror part (120) so as to emit it to the target object while maintaining a wide vertical field of view.

[0227] The second aperture (160) is provided at the light receiving end of the scanning mirror unit (120) or between the scanning mirror unit (120) and the light receiving unit (130) to control the starting point of the angle of view of the reflected light. The second aperture (160) can control the amount and path of the reflected light by controlling the size of the path (i.e., hole) through which the reflected light passes, thereby enabling control of light quantity, angle of view (field of view), depth of field, and light direction. When provided at the light receiving end of the scanning mirror unit (120) (i.e., between the target object and the scanning mirror unit (120)), the starting point of the angle of view for the vertical field of view of the reflected light reflected and incident on the target object can be moved, thereby allowing the product height to be lowered while maintaining a wide vertical angle of view and allowing the reflected light to be incident on the scanning mirror unit (120).

[0228] Additionally, when the second aperture (160) is provided at the front end of the light receiving unit (130) (i.e., between the scanning mirror unit (120) and the light receiving unit (130)), the starting point of the vertical field of view of the reflected light reflected through the scanning mirror unit (120) can be moved so that the light can be incident on the light receiving unit (130) while maintaining a wide vertical field of view.

[0229] The light receiving unit (130, Rx) is a component that is positioned opposite to the light transmitting unit (110) with respect to the scanning mirror unit (120) and receives reflected light reflected through the scanning mirror unit (120), and may include at least one second lens, sensor, etc., and the starting point of the angle of view of the reflected light can be adjusted and received through the second aperture (160).

[0230] Here, at least one second lens is a lens that collects reflected light reflected through the scanning mirror unit (120), and may include a collecting lens that collects reflected light reflected through the scanning mirror unit (120).

[0231] Here, the condensing lens can refract and condense reflected light, including, for example, an Ftheta lens.

[0232] The sensor is a module that receives reflected light concentrated through a second lens, and can calculate the distance between the lidar device and the object according to an embodiment of the present invention using a signal corresponding to the received reflected light. For example, the distance between the lidar device and the object according to an embodiment of the present invention can be calculated using the time taken for the laser light to be reflected from the object and returned to the receiving unit (130) after the transmitting unit (110) emits the laser light according to the TOF (Time Of Flight) method.

[0233] In addition, the sensor can calculate the distance between the LiDAR device according to an embodiment of the present invention and an object by using the phase of the signal that is reflected from the object and returned to the receiving unit (130) after the transmitting unit (110) emits laser light that is continuously modulated with a specific frequency according to the PS (Phase Shift) method.

[0234] The light paths of the scanning mirror part (120), the second aperture (160), and the light receiving part (130) as described above are as shown in FIG. 30.

[0235] The housing part (140) is a component in which the light transmitting part (110), the scanning mirror part (120), the first aperture aperture (150), the second aperture aperture (160), and the light receiving part (130) are installed, for example, provided in the shape of a rectangular box, so that each component of the lidar device according to the embodiment of the present invention can be installed.

[0236] A lidar device having a left-right arranged light-receiving module according to an embodiment of the present invention as described above can place a virtual aperture at the front of the target object on the light-transmitting side and the light-receiving side, respectively, as shown in FIGS. 31 and 32.

[0237] Meanwhile, the lidar device having a left-right arranged optical transmission and reception module according to the embodiment of the present invention as described above can effectively reduce the overall height of the lidar device because, compared to the optical system of the prior art, the aperture is arranged throughout the optical transmission and reception module, allowing the required scanning mirror and window to be provided at a relatively small height.

[0238] In addition, the height of the window and the scanning mirror can be adjusted according to the position of the virtual aperture (e.g., when the virtual aperture is on the scanning mirror, when the virtual aperture is between the scanning mirror and the lens, etc.) in the LiDAR device having a left-right type transmitting and receiving module according to an embodiment of the present invention, as shown in FIG. 33.

[0239] Accordingly, according to an embodiment of the present invention, a light transmitting part and a light receiving part are arranged to face each other to the left and right with respect to a scanning mirror part, and a virtual aperture is placed at the front of the target object. By converting a laser beam emitted from a light source into a linear laser beam through at least one lens and reflecting it through the scanning mirror part, the device size can be reduced compared to a stacked structure, and long-distance object detection performance and durability can be improved.

[0240] In addition, according to an embodiment of the present invention, by irradiating a linear laser beam having a vertical angle of view, optical components can be minimized to improve device durability; by separating the transmitting unit and the receiving unit so as to face each other on the same horizontal axis, the overall height of the lidar device can be reduced; by eliminating the light-blocking area, the signal-to-noise ratio can be maximized to improve object detection accuracy over long distances; and by placing an aperture diaphragm capable of adjusting the starting point of the angle of view at the front of the target object, the starting point of the divergence angle of the laser light can be effectively moved, thereby reducing the height of the scanning mirror unit and the window while maintaining resolution and the vertical angle of view, as well as effectively reducing the overall height of the lidar device.

[0241] Although various embodiments of the present invention have been presented and described in the above description, the present invention is not necessarily limited thereto, and those skilled in the art will readily understand that various substitutions, modifications, and changes are possible within the scope of the technical concept of the present invention.

[0242]

[0243] [Fourth Example]

[0244] FIG. 34 is a block diagram schematically illustrating the configuration of a lidar device (100) according to one embodiment. Referring to FIG. 1, a lidar device (100) according to one embodiment of the present disclosure includes a light transmitting unit (110), a scanning mirror unit (120), and a light receiving unit (130).

[0245] The transmitting unit (110) may include a light source that emits a laser beam, and a transmitting lens unit that converts the laser beam emitted from the light source into a linear laser beam through at least one lens and outputs it. According to one embodiment, the transmitting unit (110) may form a virtual aperture, i.e., a transmitting-side virtual aperture (150a), which is a point where the beam diverges after being focused on the path along which the beam emitted from the light source travels, outside the transmitting unit (110).

[0246] Here, a virtual aperture refers to a geometric divergence or convergence point of a beam defined by the refractive action of a lens in an optical system, and signifies a virtual position that serves as a reference for the angle of view of the beam. By forming a virtual aperture (150a) outside the light-transmitting unit (110), the light-transmitting unit (110) has the advantage of being able to reduce the window size of the LiDAR device (100) while maintaining the same vertical angle of view as in the past. Depending on the design of the light source and lens unit, the virtual aperture (150a) may be located between the light-transmitting unit (110) and the scanning mirror unit (120), or between the scanning mirror unit (120) and the target object.

[0247] The light receiving unit (130) is positioned opposite to the light transmitting unit (110) and is aligned with the optical axis of the light transmitting unit (110) to receive reflected light of a beam emitted from the light transmitting unit. The light receiving unit (130) may include at least one light receiving lens unit and a light receiving sensor, and the starting point of the angle of view of the reflected light can be adjusted and received through a virtual aperture (150a) on the receiving side. Here, the light receiving lens unit is a lens that collects reflected light reflected through the scanning mirror unit (120), and may include a condensing lens that collects reflected light reflected through the scanning mirror unit (120). Here, the condensing lens may include, for example, an Ftheta lens, etc., to refract and collect the reflected light.

[0248] A light receiving sensor is a module that receives reflected light collected through a light receiving lens, and can calculate the distance between a LiDAR device (100) according to an embodiment of the present invention and an object using a signal corresponding to the received reflected light. For example, according to the Time Of Flight (TOF) method, the distance between the LiDAR device (100) and an object can be calculated using the time taken for the laser light to be reflected from the object and returned to the light receiving unit (130) after the light transmitting unit (110) emits laser light that is continuously modulated with a specific frequency. Additionally, according to the Phase Shift (PS) method, the light receiving sensor can calculate the distance between the LiDAR device (100) and an object using the phase of the signal that is reflected from the object and returned to the light receiving unit (130).

[0249] The scanning mirror unit (120) is positioned between the light transmitting unit (110) and the light receiving unit (130) to reflect a beam emitted from the light transmitting unit (110) toward a measurement target area, and to reflect reflected light returning from the measurement target area toward the light receiving unit (130). For example, the scanning mirror unit (120) can reflect and emit a linear laser beam output through the light transmitting unit (110) to scan a preset scanning angle area, and can also incident and reflect reflected light reflected by a target object. The scanning mirror unit (120) may include a multifaceted mirror having at least two reflective surfaces, and can reflect and emit a laser beam in both directions on the second vertical axis to have an omnidirectional horizontal field of view through the multifaceted mirror.

[0250] According to one embodiment, the scanning mirror unit (120) may include a first reflective surface (121) that reflects a beam emitted from a light-emitting unit (110) and a second reflective surface (122) that reflects reflected light returning from a measurement target area. In this case, the first reflective surface (121) and the second reflective surface (122) may be formed to be orthogonal to each other to maximize light reception efficiency and improve the signal-to-noise ratio.

[0251] The scanning mirror unit (120) can scan a pre-set scanning angle area (scanning area) by using a linear laser beam output through the transmitting unit (110) to reflect it horizontally at a preset angle, and can reflect the reflected light received through scanning at a preset angle to be incident on the receiving unit (130). It operates electronically and can be provided, for example, as a reflective mirror type or a rotating type. Here, in the case of the rotating type, after emitting (transmitting) laser light to the surroundings while rotating at high speed, it collects (receives) the reflected light reflected from the target object and reflects this reflected light to be incident on the receiving unit (130). In addition, since the scanning mirror unit (120) has at least two or more surfaces (reflective surfaces), it can reflect at an angle (direction) corresponding to at least two surfaces, and thus improve the scanning efficiency.

[0252] FIG. 35 is a simplified perspective view of a lidar device (100) including a light transmitting unit (110) according to one embodiment, and FIG. 36 is a top view of the lidar device (100) of FIG. 35. Referring to FIG. 35 and FIG. 36, the light transmitting unit (110) according to one embodiment may include a module housing (111), a light source (112a), a first lens unit (1130a), a second lens unit (1130b), and a reflective mirror (114a).

[0253] The module housing (111) is provided with a circular rear end and a triangular front end, wherein a support member (111a) is positioned at an orthogonal point of the light source (112a) and the scanning mirror part (120) in the front end. The support member (111a) is provided with a horizontal cross-section in the shape of a right triangle, for example, having an internal cavity formed for the incidence and reflection of laser light, and may be formed with a first surface facing the light transmitting part (110) being flat, a second surface facing the scanning mirror part (120) being flat, and a third surface connecting the first surface and the second surface at an angle. The first surface of the support member (111a) is open so that laser light emitted from the light source (112a) is incident thereon, and a reflective mirror (114a) is provided on the third surface, which is an inclined surface, so that the incident laser beam is reflected to the scanning mirror unit (120) located in the direction of the second surface, thereby allowing the laser beam reflected through the reflective mirror (114a) to be reflected in the direction of the scanning mirror unit (120). That is, the support member (111a) can be positioned so that the central part of the third surface is orthogonal to the point extending from the front center of the light transmitting unit (110) and the rear center of the scanning mirror unit (120).

[0254] The light source (112a) is a module that is provided inside the module housing (111) and emits laser light, and can emit laser light having a horizontal angle of view and a vertical angle of view. According to one embodiment, the light source (112a) can emit light having various wavelengths that are smaller than RF (Radio Frequency) by including a laser diode (LD), and can emit high light energy, so the light receiving part (130) can receive reflected light having high energy.

[0255] The first lens section (1130a) and the second lens section (1130b) constitute a light-transmitting lens section. The first lens section (1130a) is positioned near the light source and is arranged to focus a beam emitted from the light source (112a) to form a first virtual aperture. The second lens section (1130b) is positioned far from the light source and is arranged to focus a beam emitted from the first virtual aperture again to form a second virtual aperture. Here, the first virtual aperture is formed between the first lens section (1130a) and the second lens section (1130b), and the second virtual aperture may be formed in front of the object side of the second lens section (1130b). The second lens section (1130b) serves to refract the path of the beam that has passed through the first virtual aperture once more to form an additional virtual aperture. In a typical conventional light-transmitting unit, a virtual aperture is formed once along the light-transmitting path. However, in the present disclosure, a second lens unit (1130b) is added so that the beam passing through the first virtual aperture is refracted to be focused once more, and a second virtual aperture can be formed outside the light-transmitting unit. Consequently, according to the present disclosure, the starting point of the field of view becomes closer to the window of the lidar device (100), so the window size can be reduced even if the same field of view is maintained. According to one embodiment, the first lens of the first lens unit (1130a) (the lens positioned closest to the light source) may be a convex lens. According to one embodiment, a light path in which a beam emitted from a light source (112a) passes through the first lens unit (1130a) and the second lens unit (1130b) and a plurality of virtual apertures is formed is illustrated in FIG. 39.

[0256] The first and second lens sections (1130a, 1130b) are each configured to include one or more lenses, and although omitted in the drawing, an additional lens may be placed between the first lens section (1130a) and the second lens section (1130b). The first and second lens sections (1130a, 1130b) can convert laser light emitted from the light source (112a) into a linear laser beam or refract the light path once more to form an additional virtual aperture. According to an embodiment, the first and second lens sections (1130a, 1130b) may include a collimator lens, a telecentric lens, an Ftheta lens, etc., to convert and output laser light into a linear laser beam.

[0257] The reflective mirror (114a) changes the light path emitted from the light source (112a) from the first axis to the second axis. The reflective mirror (114a) is provided on the inclined surface of the support member (111a) and is a mirror that reflects a laser beam by being positioned at the front or rear end, or between, the first and second lens parts (1130a, 1130b). It is provided on the inclined surface (i.e., the third surface) of the support member (111a) to reflect the laser beam output from the light source (112a) along the first axis and output it along the second axis. For example, the reflective mirror (114a) may include a planar reflector and may be provided on the third surface, which is the inclined surface of the support member (111a), so that the laser light emitted from the light source (112a) can be reflected through the reflective mirror (114a) toward the scanning mirror part (120).

[0258] FIG. 37 is a simplified perspective view of a lidar device (100) including a light transmitting unit (110) according to another embodiment, and FIG. 38 is a top view of the lidar device (100) of FIG. 37. Referring to FIG. 37 and FIG. 38, the light transmitting unit (110) according to one embodiment includes a module housing (111), a light source (112a), and first and second lens units (1130a, 1130b). According to the embodiment of FIG. 37, the output direction in which a beam is emitted from the light source (112a) may be provided to face the scanning mirror unit (120). When the direction in which a beam is emitted from the light source (112a) is directed toward the scanning mirror part (120), the shape of the module housing (111) may be cylindrical or rectangular, and the reflective mirror (114a) of FIGS. 35 and 36 may be omitted. In the embodiment of FIGS. 37 and 38, the above-described contents with reference to FIGS. 35 and 36 may be applied in the same way, except for the beam output direction of the light source (112a), the shape of the module housing (111), and the presence or absence of the reflective mirror (114a).

[0259] FIG. 39 is a diagram illustrating the path of a beam emitted from a light source according to one embodiment. Referring to FIG. 39, a beam emitted from a light source (112a) passes through a first lens unit (1130a), is refracted at a predetermined angle, is focused into a first virtual aperture (131a), and then diverges again. The first lens unit (1130a) includes at least one convex lens capable of converging the beam. In one embodiment, the lens positioned closest to the light source (112a) can be configured as a convex lens. Conventionally, it is common to design a system where a concave lens is placed closest to the light source (112a) to diffuse the beam and then converge it again; however, according to the present embodiment, a convex lens is placed closest to the light source so that the beam emitted from the light source (112a) can converge stably at an early stage. According to an embodiment, the first lens unit (1130a) uses a plurality of convex lenses to converge a beam emitted from a light source (112a) in stages, thereby precisely controlling the angle of convergence and stably forming the position of a virtual aperture.

[0260] A beam emitted from the first virtual aperture (131a) is refracted at a predetermined angle by the second lens unit (1130b), focused into the second virtual aperture (150a), and then emitted. The vertical angle of view and the starting point of the angle of view of the light transmitting unit (110) can be determined according to the path of the beam emitted from the second virtual aperture (150a). As can be seen in FIG. 39, the second lens unit (1130b) additionally forms a second virtual aperture (150a) outside the light transmitting unit (110) (i.e., in front of the object side), so that the starting point of the angle of view can be positioned closer to the window of the LiDAR device (100) than when only the first virtual aperture (131a) exists. Consequently, according to the present disclosure, the size of the window can be designed to be smaller while maintaining the same vertical angle of view as in the prior art.

[0261] FIG. 40 is a diagram illustrating the difference between a light-transmitting unit according to the prior art and a light-transmitting unit according to an embodiment of the present disclosure. FIG. 40 (a) is a simplified diagram to make it easier to understand the light path in a general optical system that may appear in a conventional lidar device, and FIG. 40 (b) is a simplified diagram to make it easier to understand the light path proceeding as in FIG. 39 according to an embodiment. Referring to FIG. 40 (a), the conventional light-transmitting unit (4010) includes a light source (4012) and a light-transmitting lens unit (4013). The light-transmitting lens unit (4013) may be composed of a plurality of lenses, and generally, the lens closest to the light source (4013) is composed of a concave lens. In addition, the light-transmitting unit (4010) usually has a configuration in which one or more lenses are placed behind the concave lens to converge the light rays diffused by the concave lens, and finally irradiate a beam toward an object through the last lens unit. In this way, as the beam emitted from the light source (4012) passes sequentially through the concave lens and the rear lens section, a virtual aperture is formed at a specific location between the lenses. That is, according to a conventional optical system, the light transmitting section (4010) forms a virtual aperture (730), and the virtual aperture (4030) is generally located between the lenses of the light transmitting lens section (4013).

[0262] On the other hand, according to one embodiment of the present disclosure, a second lens part (1130b) is positioned at the rear end of the first virtual aperture (131a) so that a second virtual aperture (150a) is formed outside the light transmitting part (110). When the second virtual aperture (150a) is formed outside the light transmitting part (110), the starting point of the angle of view moves toward the window side, so that the size of the scanning mirror part (120) and the window can be designed to be smaller than conventional ones. Referring to FIG. 40, it can be seen that the window size is reduced in FIG. 40 (b) compared to when there is only one virtual aperture in FIG. 40 (a).

[0263] FIG. 41 is a diagram for explaining the path of reflected light incident on a light receiving unit (130) according to one embodiment, and FIG. 42 is a diagram for explaining the difference between a light receiving unit (4250) according to the prior art and a light receiving unit (130) according to one embodiment of the present disclosure. FIG. 42 (a) is a simplified diagram of the path of reflected light incident on the light receiving unit (4250) in a general optical system of a conventional lidar device, and FIG. 42 (b) is a simplified diagram of the path of reflected light incident on the light receiving unit (130) in an optical system according to an embodiment of the present disclosure. FIG. 42 (b) is a lidar device (100) designed such that a third virtual aperture (160a) is formed at the position of the scanning mirror unit (120) according to one embodiment, and it can be seen that the window and the scanning mirror unit (120) are smaller in size compared to FIG. 42 (a). In FIG. 42(a), a virtual aperture (4240) is located between the lenses constituting the light receiving lens unit (4251), whereas in FIG. 42(b), a virtual aperture (160a) is located outside the light receiving unit (130), that is, between the window of the LiDAR device (100) and the light receiving unit (130). According to one embodiment, the light receiving lens unit (1301a) of FIG. 42(b) includes at least one lens and is positioned so that reflected light emitted through a third virtual aperture (160a) formed in front of the object side of the light receiving unit (130) is focused on a light receiving sensor (1302a). For example, the light receiving lens unit (1301a) may include a concave lens, and, for example, the lens positioned closest to the scanning mirror unit (120) may be a lens in which at least one surface is formed as a concave lens.

[0264] FIG. 43 is a diagram illustrating how the position of a virtual aperture changes according to the window size of a lidar device (100). The top example shows the case where the window and scanning mirror portions are the smallest, with the third virtual aperture formed in the scanning mirror portion. The middle example shows the case where the third virtual aperture moves toward the light receiving portion (130) as the window size increases. The bottom example shows the case where the window size is designed to be the largest, with the third virtual aperture moved further to the right and formed directly in front of the light receiving portion (130). The light receiving lens portion is designed so that a beam can be incident on the light receiving sensor according to each case.

[0265] FIG. 44 is a front view showing the vertical field of view of a beam emitted from a light-emitting unit (110), and FIG. 45 is a front view showing the vertical field of view of a beam incident on a light-receiving unit (130). Referring to FIG. 44, the laser beam emitted from the light-emitting unit (110) passes through a second virtual aperture (150a) and is finally converted into a linear laser beam having a predetermined vertical field of view. According to the present embodiment, the size of the lidar device (100) can be reduced while maintaining the vertical field of view as in the conventional method. That is, the lidar device (100) according to the present disclosure can effectively reduce the overall height of the lidar device (100) because, compared to a conventional optical system, the virtual aperture is placed across the entire light-emitting and light-receiving module, allowing the required scanning mirror and window height to be provided at a relatively small height. Therefore, according to the present disclosure, there is an advantage that the device size can be reduced compared to a conventional stacked structure, and long-distance object detection performance and durability can be improved.

[0266] In addition, according to the present disclosure, by irradiating a linear laser beam having a vertical angle of view, optical components can be minimized to improve the durability of the device, and by arranging the transmitting unit (110) and the receiving unit (130) separately so as to face each other on the same horizontal axis, the overall height of the lidar device (100) can be reduced, and by removing the light-blocking area, the signal-to-noise ratio can be maximized to improve the accuracy of object detection over long distances, and by placing an aperture that can adjust the starting point of the angle of view at the front of the target object, the starting point of the divergence angle of the laser light can be effectively moved, thereby reducing the height of the scanning mirror unit (120) and the window while maintaining resolution and the vertical angle of view, as well as effectively reducing the overall height of the lidar device (100).

[0267] Although the present invention has been described with reference to the illustrated drawings, it is not limited by the disclosed embodiments and drawings, and those skilled in the art will understand that it may be implemented in modified forms without departing from the essential characteristics of the above description. Therefore, the disclosed methods should be considered in an illustrative rather than a restrictive sense. Even if the effects of the configuration according to the present invention are not explicitly described in the description of the embodiments, effects predictable by said configuration may also be recognized. The scope of the present invention is defined by the claims, not by the foregoing description, and all variations within the equivalent scope thereof should be interpreted as being included in the present invention.

[0268]

[0269] [5th ​​Example]

[0270] The fire smoke detection device using a LiDAR sensor and the method applied thereto of the present invention are configured to detect fire smoke with high precision while overcoming spatial and privacy constraints.

[0271] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0272] FIG. 46 is a configuration diagram of a fire smoke detection device according to one embodiment of the present invention.

[0273] As illustrated in FIG. 46, a fire smoke detection device (1000) using a lidar sensor includes a lidar sensor transmitting unit (110) that transmits a laser to a target object, a lidar sensor receiving unit (130) that detects a laser signal reflected from the target object and received, a fire smoke detection unit (1300) that converts the received laser signal into a distance value and determines whether the target object is fire smoke by executing a calculation algorithm corresponding to each object classification item based on the converted distance value and integrating and analyzing the execution results, an integrated control unit (1400) that processes integrated control including an output of fire smoke detection information when fire smoke is detected, and a point cloud unit (1500) that displays the distance value and fire smoke detection information as a three-dimensional graphic.

[0274] Here, the lidar sensor is a sensor with a structure divided into a lidar sensor transmitting unit (110) and a lidar sensor receiving unit (130) that emits a laser and measures distance based on the time of the laser reflected back from a target object, and can be applied to represent the surrounding environment and objects as a three-dimensional point cloud. Such a lidar sensor can represent target objects in three-dimensional space with accurate distance precision, and high detection performance is possible, especially at night.

[0275] Lidar sensors are used to sense target objects, but even in the case of dense fire smoke generated by a fire, the fire smoke can also be detected by the lidar sensor as the laser emitted from the lidar sensor is reflected back by the smoke particles. This method of detecting fire smoke using lidar sensors can be utilized as a foundational technology for early fire suppression.

[0276] FIG. 47 is a configuration diagram of a fire smoke detection device according to another embodiment of the present invention.

[0277] As illustrated in FIG. 47, the fire smoke detection device (1000) further includes a scan motor unit (1600) that beam-steering to detect multiple viewing angles of the surrounding space, thereby enabling further expansion of the elimination of spatial constraints according to the fire smoke detection method using a LiDAR sensor.

[0278] FIG. 48 is a detailed configuration diagram showing a more detailed example of the fire smoke detection unit of FIG. 46.

[0279] The fire smoke detection unit (1300) may apply at least two of the following as object classification items for determining whether there is fire smoke of the target object: a rate of change over time of the target object, a reflection / transmission rate of the laser signal for the target object, a statistical value of the reflection intensity of the laser signal reflected and received from the target object, and a rate of change in the point amount according to the transmission power control of the laser transmitted to the target object.

[0280] As illustrated in FIG. 48, specifically, the fire smoke detection unit (1300) may include a distance conversion module (1310) that converts a received laser signal into a distance value, a first calculation algorithm module that calculates the rate of change according to the time flow of a target object based on the converted distance value, a second calculation algorithm module that calculates the reflection / transmission rate of a laser signal for a target object, a third calculation algorithm module that calculates the reflection intensity statistical value of a laser signal reflected and received from a target object, and a fourth calculation algorithm module that calculates the rate of change of a point amount according to light transmission power control, corresponding calculation algorithms (1320) for each object classification item, a fire smoke prediction module (1330) that integrates and analyzes the execution result values ​​provided from the calculation algorithm modules and predicts whether the target object is fire smoke as a result, and a fire smoke determination module (1340) that repeatedly displays a point cloud in which the distance value and the predicted fire smoke detection information are displayed as a 3D graphic for a predetermined frame interval, and then determines it as fire smoke if the ratio predicted as fire smoke for each frame is greater than or equal to a predetermined threshold ratio.

[0281] Figure 49 is an example diagram comparing the smoke detection method of Figure 46 with other methods.

[0282] As illustrated in Figure 49a), target objects detected using a lidar sensor are represented in the form of a cluster of points, and the number of points formed on the target objects can be determined according to the resolution of the lidar sensor.

[0283] If the target object is fire smoke, object detection and object classification steps are performed to detect the fire smoke, and in the object detection step of the LiDAR point cloud data, objects are detected based on the clustering of points.

[0284] On the other hand, the camera shooting method, which is a comparative method, is a method that generates an image through shooting and then analyzes the generated image to analyze the smoke contained within the image, as illustrated in Figure 49 b). However, it is difficult to capture a clear image at night or additional equipment is required, and technology to improve the accuracy of subsequent image analysis is also required. Above all, this method is suitable for application in a limited space and has limitations in accurately detecting the initial occurrence of a fire when applied to a wider space.

[0285] Fig. 50 is an example diagram showing an example of smoke classification using the smoke detection method of Fig. 49.

[0286] As illustrated in Figures a) and b) of Fig. 50, when analyzing the point cloud of a target object detected using a LiDAR sensor, the characteristics of fire smoke can be used to classify whether the target object is fire smoke.

[0287] That is, the cluster of points in the red box shown in Figure 50 a) can be classified as fire smoke because it can be confirmed that the characteristics of smoke scattering in space are present, and the cluster of points in the yellow box shown in Figure 50 b) can be classified as objects other than smoke for which the characteristics of smoke are not confirmed.

[0288] FIG. 51 is an example diagram showing an analysis screen of the first operation algorithm for smoke classification of FIG. 50 as an example.

[0289] Figure 51 a) is a point cloud at a specific time point (T), and Figure 51 b) is a point cloud after 10 frames (about 1 second) have elapsed from the specific time point (T).

[0290] In order to precisely detect the occurrence of fire smoke in the early stages of a fire, the rate of change of a target object over time can be processed through a first calculation algorithm.

[0291] For example, in the case of general objects, the change in points is not significant even with short-term changes, but in the case of fire smoke, the size and shape of the fire smoke change significantly over time, as shown in Figure 51 a) to b). Since fire smoke is generated by burning objects that are on fire, the size and shape of the smoke increase over time, whereas in the case of smoke generated by being controlled for specific purposes, such as gas flames or candles, the smoke is mostly generated at a constant level or not generated at all even if time continues.

[0292] The first calculation algorithm for calculating the rate of change of such a target object over time may apply an ICP (Iterative Closest Point) algorithm that matches and analyzes point clouds before and after the time change generated by the point cloud section (1500).

[0293] The point clouds matched through the first operation algorithm are point clouds corresponding to a predetermined time period optimized for determining that they are fire smoke, and for example, as shown in Figure 51 a), they can be point clouds corresponding to about 1 second where 10 frames of point clouds are accumulated.

[0294] That is, the error between the point cloud in Figure 51 a) and the point cloud in Figure 51 b) is calculated at the point of maximum alignment using the ICP (Iterative Closest Point) algorithm, and it is determined whether the calculated error value exceeds a predetermined threshold. In the case of fire smoke, the shape and size change continuously, so the alignment becomes incomplete and the error value increases significantly. Accordingly, if the error value exceeds a predetermined threshold, it can be identified as fire smoke.

[0295] FIG. 52 is an example diagram showing the analysis screen of the first operation algorithm of FIG. 51 as another example.

[0296] Figure 52a) is a point cloud at a specific point in time (T), and Figure 52b) is a point cloud after 10 frames (about 1 second) have elapsed from the specific point in time (T).

[0297] Unlike in Fig. 51, it is confirmed that the shape and form of the point clouds before and after alignment do not change significantly to the extent that the error between the point cloud for drawing a) of Fig. 52 and the point cloud for drawing b) of Fig. 52, which is the point cloud before alignment, does not exceed a predetermined threshold value.

[0298] FIG. 53 is an example diagram showing an analysis screen of the second operation algorithm for smoke classification of FIG. 50 as an example, and FIG. 54 is an example diagram showing an analysis screen of the second operation algorithm of FIG. 53 as another example.

[0299] The fire smoke detection unit can also improve the accuracy of fire smoke detection through a second calculation algorithm that calculates the reflection / transmission rate of a laser signal to a target object.

[0300] In other words, this is a technology that receives and processes multiple lasers when a laser emitted from a LiDAR sensor strikes a target object and reflects back. For a typical target object, only one reflected light is received, resulting in only one echo signal. However, when a laser strikes an object with low spatial density (e.g., fire smoke) or opaque glass, some of it passes through or undergoes diffuse reflection before striking another object and returning to the LiDAR sensor receiver. In such cases, not only one echo signal but also two echo signals exist.

[0301] As shown in FIG. 53, the back of a typical object represents a completely shaded area, and a laser reaching such an object is completely absorbed or reflected, resulting in only one echo signal.

[0302] However, since fire smoke does not have a high spatial density, some lasers are reflected by the smoke particles, while others pass through and are reflected back to another object behind them. That is, as shown in Figure 54 a), there is a 1st echo signal reflected by the fire smoke particles, and as shown in Figure 54 b), there is a 2nd echo signal that passes between the fire smoke particles and is reflected back to another object behind them.

[0303] Using these characteristics of fire smoke, as shown in Figure 9c), it is possible to identify the target object as fire smoke if the point ratio (2 echo signals / 1 echo signal) corresponding to 2 echo signals on the back of the target object is greater than or equal to a predetermined threshold.

[0304] FIG. 55 is an example diagram showing an analysis screen of the third operation algorithm for smoke classification of FIG. 50.

[0305] The third calculation algorithm, which computes statistical values ​​for the reflection intensity of a laser signal reflected from a target object, analyzes the reflection intensity of the received laser signal separately from the distance value converted from the received laser signal; this utilizes the characteristic that the reflection intensity varies depending on the distance, material, color, etc., of the target object.

[0306] As shown in Fig. 55, this is point cloud data in which the reflection intensity of each point is indicated by color (red: high, purple: low), and it can be seen that the points for smoke have relatively low values.

[0307] By utilizing these characteristics, it is possible to identify fire smoke using a third computational algorithm based on whether the statistical values ​​(mean, variance, median, maximum, minimum) of the reflection intensity of points corresponding to a specific target object are below a predetermined threshold.

[0308] Furthermore, the previously described fourth calculation algorithm calculates the rate of change in point amount according to the transmission power control of the laser transmitted toward a target object. It relates to a point change analysis algorithm based on transmission power control that repeats the control of outputting the transmission power of the lidar sensor's transmitter at a high level and the control of outputting it at a low level for a predetermined period of time, and analyzes the point amount at the time when the low-level transmission power is output.

[0309] For example, with a LiDAR sensor, the stronger the emitted laser and the higher the reflectivity of the target object, the stronger the received laser signal and the higher the probability of point detection. Additionally, fire smoke consists of very small particles and is relatively sensitive to the power of the emitted laser compared to ordinary objects.

[0310] That is, at relatively short distances (e.g., less than 50 meters), the change in the point amount due to changes in light power is not significant for general objects, but it is confirmed that fire smoke has a characteristic where the point amount for fire smoke decreases rapidly as the light power decreases. To utilize this characteristic, the light power of the LiDAR sensor is repeatedly controlled in the order of high level / low level, so that if the point of a target object in a data frame at a point when the light power is weak decreases to a predetermined point amount (e.g., less than 30%), the object can be identified as fire smoke.

[0311] It is possible to determine that it is fire smoke when all of the aforementioned first to fourth operation algorithms determine it as fire smoke, or when two or more of them determine it as fire smoke.

[0312] In addition, since a target object may be falsely detected as fire smoke in a single instantaneous frame, it is also possible to determine it as fire smoke when more than half of the frames among the predetermined number of frames that can be identified as fire smoke are identified as fire smoke while accumulating frames of the target object through object cracking.

[0313] And, FIG. 56 is a flowchart illustrating a fire smoke detection method according to one embodiment of the present invention.

[0314] As illustrated in FIG. 56, a fire smoke detection method using a lidar sensor proceeds by transmitting a laser from a fire smoke detection device (1000) to a target object and then performing object detection by detecting a laser signal that is reflected from the target object and received (S100).

[0315] In step S100, the received laser signal is converted into a distance value, and based on the converted distance value, a corresponding operation algorithm for each object classification item is executed to generate a result value for each operation algorithm (S102).

[0316] The fire smoke of the target object is predicted based on the integrated analysis of the execution results of the computational algorithm generated in step S102 (S104).

[0317] Afterwards, if the prediction ratio of step S104 exceeds a predetermined threshold ratio (e.g., majority), the target object is determined to be fire smoke (S108), otherwise it can be determined to be a general object (S110).

[0318] The detailed description of steps S100 to S110 described above and the description of additional possible steps shall be in accordance with FIGS. 46 to 55 and the description of these figures.

[0319] Although embodiments of the present invention have been described above with reference to the attached drawings, those skilled in the art will understand that the present invention may be implemented in other specific forms without changing its technical concept or essential features. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive.

Claims

1. A light transmitting unit comprising a first light transmitting module that emits a first laser light in a first wavelength band and converts it into a first laser beam in a linear form for output, and a second light transmitting module that emits a second laser light in a second wavelength band different from the first laser light and converts it into a second laser beam in a linear form for output; A scanning mirror unit that respectively reflects and emits the first laser beam and the second laser beam output through the light transmitting unit to scan a preset scanning angle area, and respectively incidents and reflects the first reflected light reflected by the target object through the first laser beam and the second reflected light reflected by the target object through the second laser beam; A light receiving unit positioned opposite to the light transmitting unit with respect to the scanning mirror unit, which reflects and receives the first reflected light reflected through the scanning mirror unit and transmits and receives the second reflected light reflected through the scanning mirror unit; and A high-resolution distance measuring device comprising: a housing portion in which the light transmitting portion, scanning mirror portion, and light receiving portion are installed.

2. In Paragraph 1, The above-mentioned first light transmission module and second light transmission module are, A high-resolution distance measuring device equipped with an upper and lower arrangement structure.

3. In Paragraph 2, The above-mentioned light source is, A module housing having a rear end with a cavity and a triangular front end; A first light source provided at the upper rear end of the above module housing and emitting the first laser light toward the central axis of the first light transmission lens; At least one first lens provided inside the module housing for converting the first laser light into the first laser beam in a linear form; A second light source provided at the lower rear end of the module housing and emitting the second laser light toward the central axis of the second light transmission lens; and A high-resolution distance measuring device comprising at least one second lens that converts the second laser light into a linear second laser beam.

4. In Paragraph 3, The above light receiving unit is, At least one third lens that collects the first reflected light and the second reflected light reflected through the scanning mirror unit; An incident surface is coated with HR (High-reflection) optical coating, and one filter selected from a long-pass filter, a short-pass filter, and a band-pass filter that reflects the first reflected light in the first wavelength band and transmits the second reflected light in the second wavelength band; A first sensor positioned at a location corresponding to the center axis of the light-receiving lens and receiving the first reflected light reflected through the bandpass filter; and A high-resolution distance measuring device comprising: a second sensor positioned at a location corresponding to the center axis of the light-receiving lens, and receiving the second reflected light transmitted through the bandpass filter.

5. In Paragraph 2, The above-mentioned light source is, A module housing having a rear end with a cavity and a triangular front end; A first light source provided at the upper rear end of the above module housing and emitting the first laser light toward the central axis of the first light transmission lens; At least one first lens provided inside the module housing for converting the first laser light into the first laser beam in a linear form; A second light source provided at the lower rear end of the module housing and emitting the second laser light by decentering it at the center axis of the second light transmission lens; and A high-resolution distance measuring device comprising at least one second lens that converts the second laser light into a linear second laser beam.

6. In Paragraph 5, The above light receiving unit is, At least one third lens that collects the first reflected light and the second reflected light reflected through the scanning mirror unit; An incident surface is coated with HR (High-reflection) optical coating, and one filter selected from a long-pass filter, a short-pass filter, and a band-pass filter that reflects the first reflected light in the first wavelength band and transmits the second reflected light in the second wavelength band; A first sensor positioned at a location corresponding to the center axis of the light-receiving lens and receiving the first reflected light reflected through the bandpass filter; and A high-resolution distance measuring device comprising: a second sensor positioned at a decentered position from the center axis of the light receiving lens, which receives the second reflected light transmitted through the bandpass filter.

7. In Paragraph 2, The above-mentioned light source is, A module housing having a rear end with a cavity and a triangular front end; A first light source provided at the upper rear end of the above module housing and emitting the first laser light to the upper region of the first light transmission lens center axis; At least one first lens provided inside the module housing for converting the first laser light into the first laser beam in a linear form; A second light source provided at the lower rear end of the module housing and emitting the second laser light to the lower region of the second light transmission lens center axis; and A high-resolution distance measuring device comprising at least one second lens that converts the second laser light into a linear second laser beam.

8. In Paragraph 7, The above light receiving unit is, At least one third lens that collects the first reflected light and the second reflected light reflected through the scanning mirror unit; An incident surface is coated with HR (High-reflection) optical coating, and one filter selected from a long-pass filter, a short-pass filter, and a band-pass filter that reflects the first reflected light in the first wavelength band and transmits the second reflected light in the second wavelength band; A first sensor positioned at a location corresponding to the upper region of the center axis of the light-receiving lens, and receiving the first reflected light reflected through the bandpass filter; and A high-resolution distance measuring device comprising: a second sensor positioned at a location corresponding to the lower region of the central axis of the light receiving lens, and receiving the second reflected light transmitted through the bandpass filter.

9. A light transmitting unit comprising: a first light transmitting module that emits a first laser light, converts it into a linear first laser beam, and outputs it toward a central axis; and a second light transmitting module that emits a second laser light at a position vertically spaced apart from the emission position of the first laser light, converts it into a linear second laser beam, and outputs it toward a position deviating from the central axis; A scanning mirror unit that respectively reflects and emits the first laser beam and the second laser beam output through the light transmitting unit to scan a preset scanning angle area, and respectively incidents and reflects the first reflected light reflected by the target object through the first laser beam and the second reflected light reflected by the target object through the second laser beam; A light receiving unit positioned opposite to the light transmitting unit with respect to the scanning mirror unit and receiving the first reflected light and the second reflected light reflected through the scanning mirror unit; and A lidar device having two light-transmitting modules, comprising a housing portion in which the light-transmitting portion, scanning mirror portion, and light-receiving portion are installed.

10. In Paragraph 9, The above-mentioned first light transmission module and second light transmission module are, A lidar device having two light-transmitting modules arranged in an upper and lower configuration.

11. In Paragraph 10, The above-mentioned light source is, A module housing having a rear end with a cavity and a triangular front end; A first EEL light source provided at the upper rear end of the above module housing and emitting the first laser light; At least one first lens provided inside the module housing for converting the first laser light into the first laser beam in a linear form; A second EEL light source provided at the lower rear end of the module housing and emitting the second laser light; and A lidar device having two light-transmitting modules, comprising at least one second lens that converts the second laser light into a linear second laser beam.

12. In Paragraph 11, The above-mentioned light source is, A lidar device having two light-transmitting modules, further comprising: a reflecting mirror provided inside the module housing and positioned at the front, rear, or between the first lens and the second lens to reflect the first laser beam and the second laser beam in the direction of the scanning mirror part.

13. In Paragraph 9, The above scanning mirror unit is, A lidar device having two light-transmitting modules, each comprising a multi-faceted mirror having at least two reflective surfaces.

14. In Paragraph 13, The above light receiving unit is, At least one third lens that collects the first reflected light and the second reflected light reflected through the scanning mirror unit; and A lidar device having two light-transmitting modules, comprising a sensor that receives the first reflected light and the second reflected light concentrated through the third lens.

15. A transmitting unit that emits laser light and converts it into a linear laser beam through at least one lens for output; A scanning mirror unit that reflects and emits the laser beam output through the light transmitting unit to scan a preset scanning angle area, and incidents and reflects reflected light reflected by a target object; A light receiving unit positioned opposite to the optical unit with respect to the scanning mirror unit and receiving the reflected light reflected through the scanning mirror unit; and A lidar device having a left-right arranged light-receiving module comprising: a housing portion in which the light-transmitting portion, scanning mirror portion, and light-receiving portion are installed.

16. In Paragraph 15, The above lidar device is, A first aperture diaphragm provided between the transmitting unit and the scanning mirror unit or at the transmitting rear end of the scanning mirror unit to adjust the starting point of the field of view of the laser light; and A lidar device having a left-right arranged light-receiving module, further comprising: a second aperture located between the light-receiving end of the scanning mirror unit or the scanning mirror unit and the light-receiving unit to adjust the starting point of the field of view of the reflected light.

17. In Paragraph 16, The above-mentioned light source is, A module housing having a circular rear end and a triangular front end, wherein a support member is disposed at an orthogonal point between the light source and the scanning mirror part at the front end; A light source provided inside the rear end of the above module housing and emitting the laser light; At least one first lens that converts the laser light emitted from the light source into the laser beam of a linear form; and A lidar device having a left-right type transmitting and receiving module, comprising: a reflecting mirror provided on the inclined surface of the above-mentioned support member and positioned at the front, rear, or between the first lens to reflect the laser beam.

18. In Paragraph 16, The above-mentioned light source is, A module housing provided such that the output direction faces the scanning mirror unit; A light source provided inside the rear end of the above module housing for emitting the laser light; and A lidar device having a left-right arranged transmitting and receiving module comprising at least one first lens that converts the laser light emitted from the light source into the laser beam of a linear form.

19. In Paragraph 17, The above scanning mirror unit is, LiDAR device having a left-right arranged transmitting and receiving module including a multi-faceted mirror having at least two reflective surfaces.

20. In Paragraph 18, The above light receiving unit is, At least one second lens for concentrating the reflected light reflected through the scanning mirror unit; and A lidar device having a left-right arranged transmitting and receiving module comprising: a sensor that receives the reflected light collected through the plurality of second lenses.

21. A light transmitting unit comprising a light source and a first lens portion arranged to focus a beam emitted from the light source to form a first virtual aperture; A light receiving member positioned opposite to the light transmitting member and aligned with the optical axis of the light transmitting member to receive reflected light of the beam; and It includes a scanning mirror unit disposed between the light transmitting unit and the light receiving unit, which reflects a beam emitted from the light transmitting unit toward a measurement target area and reflects the reflected light returning from the measurement target area toward the light receiving unit. The above-mentioned light-transmitting unit further comprises a second lens unit arranged to refocus a beam emitted from the first virtual aperture to form a second virtual aperture, in a lidar device.

22. In Paragraph 21, The first lens portion is positioned near the light source, and The second lens portion is positioned at the far side of the light source, and The first virtual aperture is formed between the first lens part and the second lens part, and The above second virtual aperture is formed in front of the object side of the above second lens part, in a lidar device.

23. In Paragraph 21, The first lens portion includes at least one lens, and A lidar device in which the lens positioned closest to the light source among the at least one lens is a convex lens.

24. In Paragraph 21, The above-mentioned light source is, A lidar device further comprising a reflective mirror that changes the light path emitted from the light source from a first axis to a second axis.

25. In Paragraph 21, The above scanning mirror unit includes a plurality of reflective surfaces, and A lidar device having a first reflective surface that reflects a beam emitted from the light-emitting unit and a second reflective surface that reflects the reflected light returning from the measurement target area formed to be orthogonal to each other.

26. In Paragraph 21, The above light receiving unit includes a light receiving sensor and a third lens unit, and A lidar device in which the third lens portion is arranged so that reflected light emitted through a third virtual aperture formed in front of the object side of the light receiving portion is focused on the light receiving sensor.

27. In Paragraph 26, The above-mentioned third lens portion includes at least one lens, and A lidar device in which the lens positioned closest to the scanning mirror portion among the above at least one lens has at least one surface that is a concave lens.

28. A LiDAR sensor transmitter that emits a laser to a target object; A LiDAR sensor receiving unit that detects a laser signal reflected from the above target object; A fire smoke detection unit that converts the received laser signal into a distance value, executes a corresponding calculation algorithm for each object classification item based on the converted distance value to generate a result value for each calculation algorithm execution, and determines whether the target object has fire smoke based on the result of an integrated analysis of the generated calculation algorithm execution results; An integrated control unit that processes integrated control including output of fire smoke detection information upon detection of fire smoke; and A fire smoke detection device using a LiDAR sensor comprising a point cloud section that displays the distance value and the fire smoke detection information as a three-dimensional graphic.

29. In Paragraph 28, A fire smoke detection device using a LiDAR sensor, further comprising a scan motor unit that beam-steering to detect multiple viewing angles of the surrounding space.

30. In Paragraph 28, The fire smoke detection unit is a fire smoke detection device using a LiDAR sensor that applies at least two of the following object classification items for determining whether there is fire smoke of the target object: a rate of change according to the flow of time of the target object, a reflection / transmission rate of the laser signal for the target object, a statistical value of the reflection intensity of the laser signal reflected and received from the target object, and a rate of change in the point amount according to the transmission power control of the laser transmitted to the target object.

31. In Paragraph 30, A fire smoke detection device using a LiDAR sensor that measures the rate of change of the above target object over time using an ICP (Iterative Closest Point) algorithm that aligns and analyzes point clouds before and after the time change generated by the point cloud section.

32. In Paragraph 31, A fire smoke detection device using a LiDAR sensor, characterized in that the matching targets for the point clouds before and after the above time change are point clouds corresponding to a predetermined time period optimized for determining that the target object is fire smoke through point cloud matching analysis.

33. In Paragraph 30, A fire smoke detection device using a LiDAR sensor that measures the reflection / transmission rate of the laser signal for the above target object using a multi-echo analysis algorithm that analyzes whether the laser signal is reflected from the target object or passes through the target object and is reflected and received by another object located behind the target object.

34. In Paragraph 33, A fire smoke detection device using a LiDAR sensor, wherein the above multi-echo analysis algorithm aligns a point cloud for a laser signal reflected from the target object with a point cloud for a laser signal that passes through the target object and is reflected from a rear object, and determines whether there is fire smoke from the target object by determining whether there is shading in the area corresponding to the target object in the aligned point cloud.

35. In Paragraph 30, A fire smoke detection device using a LiDAR sensor, wherein the reflection intensity statistical value of the laser signal reflected and received from the above target object is measured by a reflection intensity analysis algorithm that analyzes the reflection intensity of the received laser signal separately from the converted distance value.

36. In Paragraph 30, A fire smoke detection device using a LiDAR sensor, wherein the rate of change in the point amount according to the light transmission power control for the laser transmitted to the above target object is measured by a light transmission power control-based point change analysis algorithm that repeats the control of outputting the light transmission power of the LiDAR sensor transmitting unit at a high level and the control of outputting it at a low level for a predetermined period of time, and analyzes the point amount at the time when the low-level light transmission power is output.

37. In a fire smoke detection device using a LiDAR sensor, a step of transmitting a laser to a target object; A step of detecting a laser signal received by being reflected from the above target object; A step of converting the received laser signal into a distance value, executing a corresponding calculation algorithm for each object classification item based on the converted distance value to generate a result value for each calculation algorithm execution, and predicting whether the target object has fire smoke based on the result of an integrated analysis of the generated calculation algorithm execution results; and A method for detecting fire smoke using a LiDAR sensor, comprising the step of repeatedly displaying a point cloud, which displays the distance value and predicted fire smoke detection information as a 3D graphic, during a predetermined frame interval, and determining that it is fire smoke if the ratio predicted as fire smoke for each frame is greater than or equal to a predetermined threshold ratio.

38. In Paragraph 37, A method for detecting fire smoke using a LiDAR sensor, further comprising a beam steering step to detect multiple viewing angles of the surrounding space.

Images