Modularized control system for lidar device

Abstract

The present invention relates to a modularized control system for controlling a LiDAR device including at least a scanner, a transmission laser and a reception sensor, the modularized control system for the LiDAR device comprising: an optical control unit including a transmission control unit for controlling the transmission laser and a reception control unit for controlling the reception sensor; a computing control unit including a main processor for controlling the LiDAR device and the optical control unit; and a communication line unit for transferring a signal between the computing control unit and the optical control unit, wherein the transmission control unit and the reception control unit are modularized into independent blocks so as to be replaceable.

Description

Modular control system for LiDAR devices

[0001] The present invention relates to a system in which the control unit of a LiDAR device is modularized.

[0002] Prior to the introduction of the System on Chip (SoC) approach, LiDAR technology involved designing each component individually. In this case, computing control, optical control, and communication functions were designed as separate, independent hardware components. This individual design offers the advantages of easy maintenance and high design flexibility, as only the relevant component can be replaced or modified when a problem arises with a specific function. However, individual component design has disadvantages, such as increased physical device size, communication latency between components, and higher power consumption. Furthermore, the high system complexity of individual designs makes design and management difficult, and it is challenging to meet the requirements for miniaturization and lightweighting.

[0003] Subsequently, LiDAR system design transitioned to SoC technology. SoC-based LiDAR systems are characterized by designing and implementing various functions, such as computing control, optical control, and communication, into a single chipset. Since control and data processing are performed within a single chipset, these SoCs offer advantages in reducing data transmission delays between components and maximizing system efficiency. Furthermore, the SoC approach allows for reduced hardware size and cost savings during mass production through integrated design.

[0004] However, these single-chip systems also have several limitations and problems. First, they lack design flexibility. In an integrated chipset structure, modifying or upgrading specific functions (e.g., optical signal processing, transmit control, etc.) requires redesigning or replacing the entire chipset, resulting in significant time and cost for design changes. Consequently, it becomes difficult to efficiently respond to performance or functional changes required in the diverse application environments of LiDAR systems.

[0005] Furthermore, maintenance is difficult. In a structure where chipsets are integrated, if a specific system component fails, it is difficult to replace or repair only the faulty part individually; in some cases, it may be necessary to replace the entire chipset. This increases the time and cost involved in the fault diagnosis and maintenance process.

[0006] Furthermore, scalability is limited. Integrated chipset designs are optimized for specific functions. In this case, structural constraints arise that make it difficult to introduce new technologies (e.g., AI-based signal processing, high-speed communication protocols) into the LiDAR system or to expand the existing system. In other words, there are limitations to modifying the system in response to specific customer requirements or technological advancements.

[0007] Furthermore, adaptability to various environmental changes is poor. While integrated chipsets can deliver optimal performance in their specific designed environments (e.g., temperature, humidity, vibration), they may experience performance degradation or reliability issues when applied to other environments. These limitations may become more pronounced as LiDAR technology expands into diverse application fields (e.g., vehicles, drones, precision exploration, etc.).

[0008] In summary, while LiDAR systems utilizing the SoC approach, as well as previous LiDAR systems, have advantages, they are limited in meeting various requirements due to several disadvantages.

[0009] In SoC-based LiDAR systems, modifying or upgrading specific functions requires redesigning or replacing the entire chipset, which consumes a significant amount of time and cost for design changes. This creates a problem where it is difficult to efficiently respond to performance or functional changes required in various application environments of LiDAR systems, and this is intended to be resolved.

[0010] Furthermore, in SoC-based LiDAR systems, if a specific component fails, it is difficult to replace or repair only the faulty part individually, and in some cases, the entire chipset may need to be replaced. This leads to increased time and costs during the fault diagnosis and maintenance process, and this document aims to resolve this issue.

[0011] Furthermore, SoC-based LiDAR systems face structural constraints that make it difficult to introduce new technologies or expand existing systems, and this aims to resolve these issues.

[0012] In addition, since SoC-based LiDAR systems may experience performance degradation or reliability issues when applied to various application environments, this aims to resolve those issues.

[0013] The present invention relates to a modular control system for controlling a LiDAR device comprising at least a scanner, a transmitting laser, and a receiving sensor, comprising: an optical control unit comprising a transmitting control unit for controlling the transmitting laser and a receiving control unit for controlling the receiving sensor; a computing control unit comprising a main processor for controlling the LiDAR device and the optical control unit; and a communication line unit for transmitting signals between the computing control unit and the optical control unit; wherein the transmitting control unit and the receiving control unit are each modularized into independent blocks and are replaceable.

[0014] The present invention relates to a modular control system for controlling a LiDAR device comprising at least a scanner, a transmitting laser, and a receiving sensor, comprising: an optical control unit comprising a transmitting control unit for controlling the transmitting laser and a receiving control unit for controlling the receiving sensor; a computing control unit comprising a main processor for controlling the LiDAR device and the optical control unit; and a communication line unit for transmitting signals between the computing control unit and the optical control unit; wherein the computing control unit has a predetermined architecture, and the predetermined architecture does not change when at least one of the transmitting laser, the receiving sensor, or the optical control unit is changed.

[0015] In addition, the reception control unit is configured to convert an analog signal received from the reception sensor into a data packet which is a digital signal, and the main processor is configured to receive the converted data packet from the reception control unit and generate a point cloud based on the received data packet.

[0016] Additionally, the computing control unit further includes a real-time processor for synchronizing the transmitting laser and the receiving sensor; memory; and an external interface.

[0017] Additionally, the optical control unit further includes a scanner control unit for controlling the scanner; a sensor monitor for monitoring the lidar device and the surrounding environment; and a window heater for preventing at least one of condensation or frost on the lidar device, wherein the scanner control unit is modularized into an independent block and is replaceable.

[0018] In addition, the communication line section is configured to transmit a signal using one of the following means: FPCB, PCB, coaxial cable, or wireless high-speed communication.

[0019] The present invention relates to a modular control system for controlling a LiDAR device comprising at least a scanner, a transmitting laser, and a receiving sensor, comprising: an optical control unit comprising a transmitting control unit for controlling the transmitting laser and a receiving control unit for controlling the receiving sensor; a computing control unit comprising a main processor for controlling the LiDAR device and the optical control unit; and a communication line unit for transmitting signals between the computing control unit and the optical control unit; wherein the optical control unit is configured to identify the transmitting laser and the receiving sensor and to set parameters of the transmitting control unit and the receiving control unit.

[0020] The present invention relates to a modular control system for controlling a LiDAR device comprising at least a scanner, a transmitting laser, and a receiving sensor, comprising: an optical control unit comprising a transmitting control unit for controlling the transmitting laser and a receiving control unit for controlling the receiving sensor; a computing control unit comprising a main processor for controlling the LiDAR device and the optical control unit; and a communication line unit for transmitting signals between the computing control unit and the optical control unit; wherein the computing control unit and the optical control unit each have a predetermined first architecture and a predetermined second architecture, and when at least one of the transmitting laser or the receiving sensor is changed, the predetermined first architecture and the predetermined second architecture do not change.

[0021] In addition, the reception control unit is configured to convert an analog signal received from the reception sensor into a data packet which is a digital signal, and the main processor is configured to receive the converted data packet from the reception control unit and generate a point cloud based on the received data packet.

[0022] Additionally, the computing control unit further includes a real-time processor for synchronizing the transmitting laser and the receiving sensor; memory; and an external interface.

[0023] Additionally, the optical control unit further includes a scanner control unit for controlling the scanner; a sensor monitor for monitoring the lidar device and the surrounding environment; and a window heater for preventing at least one of condensation or frost on the lidar device, wherein the scanner control unit is configured to recognize the type of the scanner and set parameters of the scanner control unit.

[0024] In addition, if the scanner is changed, the predetermined first architecture and the predetermined second architecture do not change.

[0025] In addition, the communication line section is configured to transmit a signal using one of the following means: FPCB, PCB, coaxial cable, or wireless high-speed communication.

[0026] The present invention compensates for the disadvantages of the System on Chip (SoC) method and provides the effect of enhancing the design flexibility, maintainability, scalability, and environmental adaptability of the LiDAR system.

[0027] Specifically, the present invention allows only the relevant components to be replaced or adjusted when modification or upgrade of specific functions is required, thereby ensuring design flexibility and reducing time and costs when making design changes.

[0028] In addition, by allowing only the faulty part to be replaced or repaired individually in the event of a breakdown, the maintenance process can be simplified and cost efficiency can be increased.

[0029] In addition, it is easy to add new technologies or expand existing systems, providing scalability that allows the LiDAR system to flexibly respond to various application fields and environmental changes.

[0030] In addition, each component can be optimized to meet specific environmental requirements, enhancing environmental adaptability to maintain stable performance even in environments with varying temperatures, humidity, and vibrations.

[0031] FIG. 1 is a block diagram schematically illustrating the overall configuration of a modularized control system for a lidar device according to one embodiment of the present invention.

[0032] FIG. 2 is a block diagram showing a computing control unit and an optical control unit exchanging data through a communication line unit in a modular control system for a lidar device according to one embodiment of the present invention.

[0033] FIG. 3 is a flowchart briefly illustrating the operation process of a lidar device in a modular control system for a lidar device according to one embodiment of the present invention.

[0034] FIG. 4 is a block diagram showing that a computing control unit performs an initialization step in a modularized control system for a LiDAR device according to one embodiment of the present invention.

[0035] FIG. 5 is a block diagram showing the process of the transmission step and the reception step proceeding in a modular control system for a lidar device according to one embodiment of the present invention.

[0036] FIG. 6 is a block diagram illustrating the process of generating a point cloud based on a digitized signal in a modular control system for a lidar device according to one embodiment of the present invention.

[0037] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Identical or similar components regardless of drawing symbols will be assigned the same reference number, and redundant descriptions thereof will be omitted. Furthermore, in describing the embodiments disclosed in this specification, if it is determined that a detailed description of related prior art may obscure the essence of the embodiments disclosed in this specification, such detailed description will be omitted. Additionally, the attached drawings are intended only to facilitate understanding of the embodiments disclosed in this specification, and the technical concept disclosed in this specification is not limited by the attached drawings; it should be understood that the drawings include all modifications, equivalents, and substitutions that fall within the spirit and technical scope of the present invention.

[0038] FIG. 1 is a block diagram schematically illustrating the overall configuration of a modular control system (10) for a lidar device according to one embodiment of the present invention. According to one embodiment of the present invention, the modular control system (10) for a lidar device may include a computing control unit (100), an optical control unit (200), and a communication line unit (300).

[0039] Computing control unit

[0040] A computing control unit (100) according to one embodiment of the present invention is responsible for controlling the LiDAR device and processing core data. To this end, the computing control unit (100) may include a main processor (110), a real-time processor (120), a memory (130), and an external interface (140).

[0041] First, a main processor (110) according to one embodiment of the present invention can perform the role of a host that controls the entire lidar device. The main processor (110) can initialize the lidar system to prepare basic settings for starting the lidar system. This initialization operation ensures the normal operation of the lidar system and can coordinate each component to operate correctly. The specific process of the initialization operation will be described later.

[0042] In addition, a main processor (110) according to one embodiment of the present invention may receive real-time reports on LiDAR system status information (temperature, power, occurrence of abnormalities, etc.) from a real-time processor (120). The main processor (110) may issue control commands based on the situation detected by the real-time processor (120). At this time, the main processor (110) may adjust the priority of command and data processing based on the system status information provided by the real-time processor (120). Meanwhile, it is also possible for the main processor (110) to issue control commands by directly receiving system status information from the sensor monitor (240). However, the real-time processor (120) is optimized for real-time data processing, and the collected raw information may require preprocessing. Furthermore, to avoid excessive load on the main processor (110), it is more appropriate to issue control commands by receiving system status information from the real-time processor (120) rather than the sensor monitor (240).

[0043] In addition, the main processor (110) according to one embodiment of the present invention may utilize the memory (130) as a central storage or buffer to support data processing and command execution of the LiDAR system. The main processor (110) may store data received from the optical control unit (200) in the memory (130) or temporarily store point cloud data, which is the result of calculation, in the memory (130). In addition, the main processor (110) may read data necessary for command execution or point cloud generation from the memory (130).

[0044] However, the main processor (110) may have its own storage function (e.g., cache memory), so that when high-speed data access is required, data can be processed in the processor's internal storage without using memory (130). Due to this storage function, data generated during the computation process can be stored for a short period, and data required for high-speed computation can be managed efficiently. Thus, the storage functions of memory (130) and the main processor (110) form a complementary relationship, maximizing the data processing speed of the LiDAR system.

[0045] In addition, a main processor (110) according to one embodiment of the present invention can transmit and receive commands and data with an external interface (140). For example, the main processor (110) can transmit point cloud data to the external interface (140) so that point cloud data is output to the external interface (140). In addition, it can transmit status information to the external interface (140) so that status information of an optical signal received by a receiving sensor (Rx Sensor) is output. Specifically, the main processor (110) can transmit information such as the intensity of the received optical signal and the noise level to the external interface (140). This received optical status information can be transmitted in the order of the receiving sensor, the receiving control unit (210), the main processor (110), and the external interface (140). In addition, the received optical status information can be stored in a memory (130). In addition, the main processor (110) can transmit parameters of the transmitted optical to the external interface (140) so that parameters of the transmitted optical are output. Specifically, the main processor (110) can transmit transmission optical parameters, including laser wavelength and laser output, to the external interface (140). Meanwhile, the transmission optical parameters can be transmitted in the order of the main processor (110), the transmission control unit (220), and the transmission laser (Tx Laser). Additionally, the main processor (110) can receive commands issued by a user through the external interface (140). Based on these user commands, the main processor (110) can adjust the detection area, scan speed, etc., of the LiDAR device.

[0046] In addition, a main processor (110) according to one embodiment of the present invention may issue commands to an optical control unit (200) and exchange signals with the optical control unit (200). For example, the main processor (110) may control a transmission signal (Tx electrical signal) that a transmission control unit (220) transmits to a transmission laser (Tx Laser). Specifically, the main processor (110) may transmit a trigger signal, in which transmission optical parameters are set, to the transmission control unit (220). The transmission optical parameters may include a laser wavelength, laser output, pulse width, pulse repetition rate, etc. Additionally, the main processor (110) may receive a report on the status of the transmission laser (Tx Laser) from the transmission control unit (220) and send a reset trigger signal when necessary.

[0047] In addition, the main processor (110) according to one embodiment of the present invention can receive data collected by the reception control unit (210) and use it to generate a point cloud. The detailed process of generating a point cloud will be described later. Furthermore, the main processor (110) receives a report on the status of the reception sensor (Rx Sensor) from the reception control unit (210) and can issue a command to the reception control unit (210) to adjust the settings of the reception sensor as needed.

[0048] In addition, a main processor (110) according to one embodiment of the present invention can control the scanning operation of a LiDAR device through a scanner control unit (230). Specifically, the main processor (110) can transmit a command to the scanner control unit (230) to set the scan pattern and range of the LiDAR device. In addition, the main processor (110) receives a report on the operating status of the LiDAR device from the scanner control unit (230), monitors the scan cycle, direction, etc., and can issue a correction command as needed.

[0049] Meanwhile, the lidar device does not refer only to a lidar device that measures the external environment by scanning while stationary, but may be a lidar device that senses the external environment in various other ways, such as a lidar device that measures the external environment by rotating in a spin manner. The scanner may include a motor that rotates the lidar device, a mirror that rotates to adjust the direction of light, and an optical phase modulator that adjusts the optical phase to adjust the direction of light.

[0050] In addition, a main processor (110) according to one embodiment of the present invention controls a window heater (250) based on collected information to prevent condensation, frost, etc., thereby maintaining the performance of the lidar device. At this time, the main processor (110) can collect information such as temperature and humidity of the lidar system and the surrounding environment from a real-time processor (120) and / or a sensor monitor (240).

[0051] In addition, the main processor (110) according to one embodiment of the present invention communicates with each component of the optical control unit (200) through the communication line unit (300), thereby enabling control of the operation of the LiDAR device. This is because the computing control unit (100) and the optical control unit (200) according to the present invention are designed with a physically separated structure, and the communication line unit (300) is utilized as an essential means of communication.

[0052] Specifically, the main processor (110) can transmit a trigger signal (output strength, wavelength, etc.) to the transmission control unit (220) through the communication line section (300) and receive a report on the status of the transmission laser (Tx Laser). In addition, the main processor (110) can receive a data packet (Rx Data Packet) that digitizes the reception signal from the reception control unit (210) through the communication line section (300). In addition, the main processor (110) can receive the status of the reception sensor through the communication line section (300) and transmit necessary commands. Furthermore, the main processor (110) can communicate with the scanner control unit (230) through the communication line section (300) to set the position, angle, scan pattern, and scan cycle of the scanner.

[0053] A real-time processor (120) according to one embodiment of the present invention is a component responsible for real-time data processing and state management in a lidar system. First, the real-time processor (120) can manage synchronization between a transmitting laser and a receiving sensor. Synchronization is essential to ensure accuracy in distance calculation by accurately measuring the time of flight (ToF) of the transmitted and received signals. Since errors may occur in distance calculation if synchronization is not performed, the accuracy and reliability of the lidar system can be maintained through synchronization by the real-time processor (120).

[0054] Additionally, the real-time processor (120) can verify the validity of data packets and perform basic preprocessing tasks. For example, the real-time processor (120) can clean up data by removing noise from data packets or determining signal strength and abnormalities. Afterward, the verified and preprocessed data can be transmitted to the main processor (110). These tasks can be performed in duplicate with the main processor (110) or by dividing roles. Furthermore, it is possible for the real-time processor (120) to primarily verify the data, after which the main processor (110) can perform additional advanced operations or independently process specific data, and this is determined according to the system design and requirements.

[0055] Additionally, the real-time processor (120) can monitor in real time whether an abnormality has occurred in the LiDAR system based on temperature, power status, and humidity, and report this to the main processor (110). In addition, in emergency situations such as power abnormalities, the real-time processor (120) can respond independently without intervention from the main processor (110). For example, in an emergency situation, the real-time processor (120) can activate the eFUSE circuit to cut off the power and then report the status to the main processor (110).

[0056] In summary, a real-time processor (120) according to one embodiment of the present invention can coordinate data processing and operation of the LiDAR system in cooperation with the main processor (110). In addition, the real-time processor (120) can contribute to increasing the stability and efficiency of the LiDAR system through real-time data management and response to abnormal situations.

[0057] A memory (130) according to one embodiment of the present invention can be utilized as a storage for storing various data and calculation results in a LiDAR system. In particular, the memory (130) can be utilized as a temporary storage for storing data packets transmitted from a receiving control unit (210), intermediate data processed by a main processor (110), or point cloud data. At this time, the stored data can be utilized for subsequent calculations or output through an external interface (140). Meanwhile, the memory (130) does not necessarily exist independently, but may be integrated within the main processor (110) or exist as a distributed storage space in each component of the LiDAR system.

[0058] An external interface (140) according to one embodiment of the present invention can operate as a physical channel connecting internal data in a lidar system to an external device. The external interface (140) can output generated point cloud data to an external device. Additionally, the external interface (140) can receive commands input from the outside and transmit them to the main processor (110), thereby allowing the operation of the lidar system to be adjusted.

[0059] Specifically, the external interface (140) can output transmitted optical parameters (e.g., output strength, wavelength, etc.) or received optical status information (e.g., signal strength, noise level). Additionally, the external interface (140) can transmit commands issued by the user to the external interface (140) (e.g., setting a detection area, adjusting the scan speed) to the main processor (110), and the user's commands can be reflected in the system operation.

[0060] Meanwhile, the external interface (140) supports standard protocols such as CAN, Ethernet, and wireless communication, and can serve as a channel for transmitting and receiving data. Through this, the LiDAR system exchanges data with external devices and can interact with users or vehicle systems. That is, the external interface (140) does not directly perform data processing or command execution, but serves as a channel for transmitting and receiving signals.

[0061] Optical control unit

[0062] An optical control unit (200) according to one embodiment of the present invention can control the operation of a scanner including a transmitting laser (Tx Laser) and a receiving sensor (Rx Sensor) in a LiDAR system. To this end, the optical control unit (200) may include a receiving control unit (210), a transmitting control unit (220), a scanner control unit (230), a sensor monitor (240), and a window heater (250). Meanwhile, the transmitting laser may emit a laser beam of a specific wavelength and may be a device such as an EEL (Edge Emitting Laser) or a VCSEL (Vertical Cavity Surface Emitting Laser). In addition, the receiving sensor may detect a reflected optical signal and may be a device such as an APD (Avalanche Photodiode), a SPAD (Single-Photon Avalanche Diode), or a SiPM (Silicon Photomultiplier). Furthermore, the scanner, as a component forming a LiDAR device, may perform the role of adjusting the direction of the laser beam.

[0063] Meanwhile, the scanner may change the scan pattern or range or rotate in the direction of the laser beam to adjust the direction of the laser beam. Additionally, the scanner control unit (230) may set the scan pattern or range or control the settings or operation of the scanner by rotating it in the direction to be measured.

[0064] A receiving control unit (210) according to one embodiment of the present invention can process and digitize a receiving signal sent by a receiving sensor (Rx Sensor) in a LiDAR system and transmit it to a main processor (110). The receiving signal is an analog signal sent to the receiving control unit (210) by a receiving sensor that has received light. The receiving signal is based on a reflected light signal and may include information such as signal strength, noise level, Time of Flight (TOF), and angle information.

[0065] Specifically, the receiving control unit (210) can generate receiving light state information based on the receiving signal and transmit it to the main processor (110). At this time, the receiving control unit (210) can optimize the performance of the receiving sensor by receiving commands from the main processor (110), including sensitivity adjustment and signal filtering.

[0066] Additionally, the receiving control unit (210) can digitize the received signal and provide it to the main processor (110) so that it can be used for generating a point cloud. Specifically, since the received analog signal may have very weak signal strength or contain noise, the receiving control unit (210) can amplify the signal through an amplification circuit. The amplified signal undergoes a filtering process to remove unnecessary noise and external interference signals, and the purity of the signal can be improved. Subsequently, the amplified and filtered analog signal can be converted into a digital signal through an analog-to-digital converter (ADC). The converted digital signal may include information such as Time of Flight (ToF), signal strength, and reflectance. Then, the receiving control unit (210) can organize the converted digital data into a data packet form that can be used for generating and analyzing a point cloud and transmit it to the main processor (110).

[0067] A transmission control unit (220) according to one embodiment of the present invention can control and manage the operation of a transmission laser (Tx Laser) in a LiDAR system. The transmission control unit (220) can set parameters such as the output strength, frequency, direction, pulse width, and pulse repetition rate of the transmission laser based on a trigger signal received from the main processor (110).

[0068] Additionally, the transmission control unit (220) can monitor the status of the transmission laser in real time and report the output intensity, temperature, or operational abnormalities to the main processor (110). At this time, the transmission control unit (220) can control the transmission laser by receiving a trigger signal in which the parameters of the transmission light are reset.

[0069] A scanner control unit (230) according to one embodiment of the present invention can control the operation of a scanner in a LiDAR system. Specifically, the scanner control unit (230) can set the position, angle, scan pattern, and scan period of the scanner based on commands received from the main processor (110).

[0070] Additionally, the scanner control unit (230) can monitor the operating status of the scanner in real time and report the status of the scanner to the main processor (110). At this time, the scanner control unit (230) can issue commands to the scanner that are corrected for the scan cycle, angle, pattern, etc., and enable the scanner to operate in accordance with the detection requirements of the LiDAR system.

[0071] A sensor monitor (240) according to one embodiment of the present invention can detect and monitor the surrounding environment and system status in a LiDAR system. For example, the sensor monitor (240) can measure environmental conditions such as temperature, humidity, and power status, as well as the internal state of the system, in real time.

[0072] Specifically, the sensor monitor (240) transmits the collected information to the main processor (110) or the real-time processor (120), and the collected information can be used for controlling the operation of the lidar system and for adjustments in response to environmental changes. More specifically, the sensor monitor (240) can provide temperature and humidity data to determine the operating conditions (prevention of condensation and frost) of the window heater (250), or report the power status to support the lidar system in operating stably.

[0073] A window heater (250) according to one embodiment of the present invention can maintain the performance of the lidar device by preventing condensation, frost, dust, etc. on the lidar device window. At this time, the main processor (110) can set the operating conditions of the window heater (250) based on environmental information (e.g., temperature, humidity) collected from the sensor monitor (240) or the real-time processor (120), and can transmit a command to operate the window heater (250) when the conditions are met.

[0074] Meanwhile, the window heater (250) can measure environmental conditions around the LiDAR device window in real time by including a thermometer and a hygrometer. At this time, if the temperature and humidity measured by the window heater (250) itself satisfy the operating conditions, the window heater (250) can operate without a separate command from the main processor (110).

[0075] In this way, the window heater (250) controls the temperature of the lidar device window according to the set conditions to prevent performance degradation caused by the external environment and can support the lidar system to operate stably in various environments.

[0076] Communication line section

[0077] A communication line section (300) according to one embodiment of the present invention is a path for exchanging signals between a computing control unit (100) and an optical control unit (200), and can be configured in various forms such as an FPCB, a PCB, a coaxial cable, or a wireless high-speed communication. For example, a trigger signal transmitted from a main processor (110) to a transmission control unit (220), or a data packet (Rx Data Packet) transmitted from a reception control unit (210) to a main processor (110), can be transmitted through the communication line section (300). Through this, each component can be guaranteed high transmission speed and signal integrity in a stable connection state.

[0078] Meanwhile, depending on the data bandwidth and transmission latency requirements of the LiDAR device, data stored in memory (130) or information generated in real time needs to be transmitted and received quickly. In this case, a physical transmission path such as a PCB or coaxial cable may be applied to the communication line section (300). Additionally, the communication line section (300) can support the main processor (110) and the real-time processor (120) in periodically monitoring the operating status of the optical control section (200) and rapidly exchanging command information necessary to control transmission, reception, scanning operations, etc.

[0079] Specifically, the communication line section (300) enables the computing control unit (100) to communicate with the receiving control unit (210), transmitting control unit (220), scanner control unit (230), sensor monitor (240), and window heater (250) of the optical control unit (200), thereby allowing each component to be controlled and adjusted according to the environment settings desired by the user. Additionally, when the LiDAR device needs to be linked with an external device such as a vehicle, a command input from the external interface (140) is transmitted to the optical control unit (200) via the communication line section (300), so that the operation of the LiDAR system can be reflected immediately.

[0080] Ultimately, the communication line unit (300) can flexibly connect the computing control unit (100) and the optical control unit (200) to enable all components within the LiDAR device to cooperate organically. Accordingly, the communication line unit (300) functions as a component that increases data processing efficiency and system reliability.

[0081] Modularized optical control unit

[0082] In the optical control unit (200) according to one embodiment of the present invention, considering that the receiving sensor (Rx Sensor), transmitting laser (Tx Laser), scanner, etc. used in the LiDAR device may be varied, each component (receiving control unit (210), transmitting control unit (220), scanner control unit (230), etc.) may be designed as a modular unit. That is, each control unit may be designed as an independent block so that it can be replaced or modified according to the characteristics (e.g., sensitivity, output, number of scanning axes, etc.) of the sensor, laser, or scanner used.

[0083] For example, in a specific lidar system where long-range measurement is required and a high-power transmitting laser (Tx Laser) is used, the transmitting control unit (220) may be designed to support high-power driving in accordance with the laser. Conversely, in other lidar systems that use a low-power, high-frequency band laser for ultra-precision sensing, the transmitting control unit (220) may be replaced or modified to have a driving circuit and signal processing method optimized for the characteristics.

[0084] Likewise, as the sensitivity or response speed of the receiving sensor (Rx Sensor) changes, the amplification circuit, filtering method, analog-to-digital converter, etc. of the receiving control unit (210) may also change. For example, if a receiving sensor with an emphasized low-noise amplifier function is equipped, the receiving control unit (210) may be redesigned to match the noise characteristics of the receiving sensor, and optimal signal processing performance may be secured.

[0085] In addition, the scanner control unit (230) may vary depending on the driving method of the scanner (mechanical, MEMS-based, rotary, etc.). For example, when a 2D scanner is used, a scanner control unit (230) equipped with a relatively simple driving method and a motor control unit may be applied. In addition, when a 3D scanner is used or a vibrating mirror (MEMS) solution is used, a scanner control unit (230) with a motion control algorithm or driver modified accordingly may be applied.

[0086] As such, the optical control unit (200) according to one embodiment of the present invention may be configured with separate modules for each control unit (210, 220, 230) to correspond to various lidars (sensors, lasers, scanners, etc.). That is, the control units can be freely replaced or modified to meet lidar performance requirements. This embodiment increases design flexibility, simplifies device upgrades or maintenance, and allows for response to the introduction of new technology with only partial replacement. Furthermore, the module specifications of the sensor monitor (240) and the window heater (250) can also be flexibly adjusted according to the required environment (temperature, humidity, vibration, manned / unmanned environment, etc.), and the entire optical control unit (200) can be expanded to a configuration suitable for various industrial sites and application cases.

[0087] Meanwhile, the computing control unit (100) according to one embodiment of the present invention is a part (Compute Part) that performs data processing based on a digitized optical signal, and can be relatively less affected by changes in the type of LiDAR or the optical control unit (200). This is because the signals generated from the receiving sensor (Rx Sensor), transmitting laser (Tx Laser), scanner, etc., are already digitized and transmitted through the optical control unit (200).

[0088] That is, the computing control unit (100) processes a signal in a digital form and, based on this, performs point cloud generation, control of the LiDAR device, communication with an external device, etc. Therefore, even if the LiDAR configuration (optical control unit, optical sensor, laser type, scanner method, etc.) changes, as long as the format of the data packet is maintained consistently, the computing control unit (100) can be used universally by simply adjusting the firmware and software of the computing control unit (100).

[0089] Specifically, the computing control unit (100) may have a predetermined architecture, and the predetermined architecture may not change when at least one of the configurations of the transmitting laser, receiving sensor, or optical control unit (200) is changed.

[0090] In one embodiment of the present invention, the architecture refers to a hardware and / or software structure for controlling a LiDAR device. Additionally, in the present invention, the architecture means designed to perform essential control functions and maintain the system foundation even when components of the LiDAR device, such as a transmitting laser, a receiving sensor, and a scanner, are replaced or upgraded. In this case, in a given architecture, the computing control unit (100) and the optical control unit (200) are distinguished from each other, and each unit may be composed of an independent module. Thus, even when hardware or sensors are replaced, the entire system structure is not changed, and compatibility is possible through partial replacement or software updates.

[0091] For example, even if the transmitting laser (Tx Laser) or receiving sensor (Rx Sensor) is replaced or upgraded and the optical control unit (200) is changed accordingly, the architecture (chip design, interface, processor configuration, etc.) of the computing control unit (100) can be configured so as not to change. This is because even if each component (210, 220) of the optical control unit (200) is physically replaced with a different module or modified, the computing control unit (100) ultimately only needs to process the signal received in the form of a data packet.

[0092] Specifically, even if the optical control unit (200) updates the control unit to new hardware or firmware to match the characteristics (output, sensitivity, frequency, etc.) of the replaced transmitting laser or receiving sensor, the final output signal can maintain the same (or compatible) data packet format. Therefore, from the perspective of the computing control unit (100), it only needs to interpret the digital signal (data packet) received from the optical control unit (200) to generate a point cloud or control the device, so there is no need to redesign the architecture itself.

[0093] More specifically, when the receiving control unit (210) redesigns the amplification circuit or analog-to-digital converter to match the replaced receiving sensor and transmits the converted digital signal in the form of a data packet to the computing control unit (100), the computing control unit (100) can interpret and process the packet according to the data format. In this way, even if a change occurs in the optical control unit (200), the predetermined architecture (chip design, processor structure, communication protocol, etc.) of the computing control unit (100) can be maintained as is.

[0094] Ultimately, the computing control unit (100) according to the present invention is a common platform for processing digitized signals in the analog domain, which can flexibly respond to various design variations of the LiDAR device and act as a factor that enhances functional reusability and scalability.

[0095] Optical control unit that recognizes lasers, sensors, and scanners

[0096] In a modular control system (10) for a lidar device according to one embodiment of the present invention, even if the transmitting laser (Tx Laser), receiving sensor (Rx Sensor), or scanner is replaced or upgraded, the optical control unit (200) can recognize the type and characteristics of the hardware and control it. That is, conventionally, the components (210, 220, 230, etc.) of the optical control unit (200) were designed to be changed together when the sensor, laser, or scanner was replaced. However, in this embodiment, the type of sensor, laser, or scanner mounted on the lidar device can be recognized without physical replacement of the optical control unit (210, 220, 230), and accordingly, the lidar device can be operated in an optimized manner.

[0097] For example, if the transmitting laser (Tx Laser) is replaced with a low-power, high-frequency laser, the transmitting control unit (220) can identify the characteristics of the laser (output, frequency, pulse width, etc.) based on identification information or internal measurements provided by the laser. Subsequently, the transmitting control unit (220) can drive the laser by selecting parameters optimized for the low-power, high-frequency laser instead of the existing parameters used to drive the high-power laser. At this time, the main processor (110) or the real-time processor (120) receives the changed laser information from the transmitting control unit (220) and can reset the trigger signal if necessary.

[0098] Likewise, the receiving control unit (210) can read information regarding the sensitivity, response speed, voltage level, etc. of the replaced receiving sensor (Rx Sensor) and set amplification, filtering, and ADC parameters suitable for the sensor. For example, when a high-sensitivity sensor is connected, a sufficient signal can be obtained even with a low amplification gain, so the receiving control unit (210) can change the existing settings to strengthen noise suppression or expand the dynamic range.

[0099] Additionally, the scanner control unit (230) can identify the type of scanner (mechanical, MEMS, rotary, etc.) and adjust the control algorithm or driving frequency, etc., for driving the scanner. For example, since 2D scanners and 3D scanners differ in driving method, number of rotation axes, and scanning pattern, the scanner control unit (230) can detect the type of scanner and then select a suitable control method to control the scanner.

[0100] Specifically, the computing control unit (100) and the optical control unit (200) may each have a predetermined architecture, and when at least one of the transmitting laser and the receiving sensor is changed, each predetermined architecture may not change. More specifically, the computing control unit (100) may have a predetermined first architecture, and the optical control unit (200) may have a predetermined second architecture.

[0101] For example, the transmission control unit (220), the reception control unit (210), and the scanner control unit (230) can identify the replaced transmission laser, reception sensor, and scanner without any hardware changes. Subsequently, each component of the optical control unit (200) can control the replaced transmission laser, reception sensor, and scanner by adjusting only parameters or changing the software driving mode. Therefore, the optical control unit (200) can maintain the same architecture without physically installing a new module. In addition, since the computing control unit (100) processes digital signals maintaining a constant format, the same chip design is possible regardless of various types of reception sensors, transmission lasers, and scanners, and no separate hardware changes are required. That is, the predetermined first architecture of the computing control unit (100) and the predetermined second architecture of the optical control unit (200) do not need to be changed.

[0102] In this way, in the present embodiment, specialized settings according to the type of laser, sensor, and scanner are applied to each component of the optical control unit (200) without hardware replacement, thereby allowing the lidar system to be applied to various situations. That is, only the sensor, laser, and scanner need to be changed, and various types of lidar devices can be controlled with the same chip without the need to replace the internal components (210, 220, 230) of the optical control unit (200) or the computing control unit (100). Ultimately, according to the present embodiment, the scalability and flexibility of the entire lidar device are improved, and the installation, operation, and maintenance processes can be simplified.

[0103] <Fig. 2>

[0104] FIG. 2 is a block diagram showing a configuration in which a computing control unit (100) and an optical control unit (200) exchange data through a communication line unit (300) in a modularized control system (10) for a lidar device according to one embodiment of the present invention.

[0105] First, the Receiver Data illustrated in FIG. 2 may include a data packet in which the reception control unit (210) digitizes an analog reception signal. At this time, the main processor (110) or the real-time processor (120) may utilize the received data for purposes such as generating a point cloud. Additionally, the Receiver Control Signal may include a signal regarding commands exchanged between the computing control unit (100) and the reception control unit (210). The Receiver Control Signal may be a signal for controlling the operation of the reception sensor in real time, such as the sensitivity of the reception sensor or signal filtering. At this time, the aforementioned Receiver Data and Receiver Control Signal may be transmitted through the communication line unit (300).

[0106] Additionally, the Transmitter Data may include transmission optical parameters such as the output, wavelength, and pulse width of the transmitting laser (Tx Laser). This data may be transmitted to the transmission control unit (220) via the communication line section (300). The transmission control unit (220) can drive the transmitting laser and control the frequency of the laser based on this data. Additionally, the Transmitter Control Signal may include signals for additionally controlling the transmitting laser, such as instructions to turn the transmitting laser on or off or reset commands. The Transmitter Control Signal may be a signal transmitted from the computing control unit (100) to the transmission control unit (220) via the communication line section (300) to control the operation of the transmitting laser in real time.

[0107] <Fig. 3>

[0108] FIG. 3 is a flowchart briefly illustrating the operation process of a lidar device in a modularized control system (10) for a lidar device according to an embodiment of the present invention. First, in the initialization step, basic settings for operating the lidar system are made, and in the transmission step, an optical signal may be emitted through a transmitting laser (Tx Laser). Subsequently, in the reception step, the reflected optical signal may be detected and digitized and transmitted to a computing control unit (100). In addition, in the point cloud generation step, the lidar system may extract spatial information of a target object. Specific operation and control flow for each step will be explained in more detail in FIGS. 4 to 6.

[0109] <Fig. 4>

[0110] FIG. 4 is a block diagram showing that a computing control unit (100) performs an initialization step in a modularized control system (10) for a LiDAR device according to an embodiment of the present invention. First, the system initialization step is an operation performed within the computing control unit (100), and the main processor (110) can set the basic operating environment by checking the firmware, memory (130), external interface (140), etc. at itself. At this time, the initialization step can be led mainly by the main processor (110), but can also be performed comprehensively in conjunction with other components of the computing control unit (100), including the real-time processor (120).

[0111] Additionally, in the Tx / Rx Check stage, the computing control unit (100) may transmit a status check request command to the optical control unit (200) to check the status of the transmitting laser (Tx Laser) and the receiving sensor (Rx Sensor). Accordingly, each component of the optical control unit (200) (transmitting control unit (220), receiving control unit (210), scanner control unit (230), etc.) may check for abnormalities in the transmitting laser, receiving sensor, and scanner, and transmit an abnormality signal to the computing control unit (100).

[0112] If an anomaly is detected, the computing control unit (100) may transmit a Tx / Rx initialization request to the optical control unit (200) to instruct the optical control unit (200) to initialize the corresponding components. At this time, the optical control unit (200) may initialize the transmitting laser, receiving sensor, and internal parameters of the control unit in accordance with the request, and transmit an initialization completion signal to the computing control unit (100).

[0113] Afterward, once all initialization is successfully completed, the scanning operation of the LiDAR device can begin in earnest. Meanwhile, the process of the computing control unit (100) sending a request signal to the optical control unit (200), or the optical control unit (200) responding with an abnormality signal and an initialization completion signal, etc., can all be carried out through the communication line unit (300).

[0114] <Fig. 5>

[0115] FIG. 5 is a block diagram showing the process of transmission and reception steps in a modularized control system (10) for a lidar device according to an embodiment of the present invention. First, the main processor (110) of the computing control unit (100) can generate a trigger signal as described above and transmit it to the optical control unit (200). This trigger signal may include transmission optical parameters such as laser wavelength, output intensity, pulse width, and pulse repetition rate. The transmission control unit (220) outputs a transmission signal (Tx electrical signal) based on the trigger signal, and the transmission laser (Tx Laser) that receives it can emit a laser.

[0116] Meanwhile, the receiving sensor (Rx Sensor) can output a receiving signal (Rx receiving analog signal) based on the reflected laser. At this time, the receiving control unit (210) that receives the receiving signal can increase the receiving signal to an appropriate level through an amplification circuit and perform a filtering process to remove noise and interference signals. Subsequently, the amplified or filtered signal can be converted into a digital form through an analog-to-digital converter (ADC). In addition, the receiving control unit (210) can reconstruct the digitized signal into a data packet (Rx Data Packet) containing various information such as signal strength, reflectance, and Time of Flight (ToF), and transmit it to the computing control unit (100).

[0117] <Fig. 6>

[0118] FIG. 6 is a block diagram illustrating the process of generating a point cloud based on a data packet, which is a digitized signal, in a modular control system (10) for a lidar device according to an embodiment of the present invention. First, a receiving control unit (210) can transmit a data packet in digital form to a computing control unit (100) through a communication line unit (300).

[0119] Subsequently, the main processor (110) can analyze the received data packet to verify signal validity and perform preprocessing tasks such as noise removal or signal correction. Meanwhile, the real-time processor (120) can also perform tasks such as validity verification and noise removal. Subsequently, based on the corrected and / or preprocessed data, the distance and direction of each reflected signal are calculated, and a point cloud converted into 3D coordinates can be generated. The generated point cloud data can be temporarily stored in memory (130) or transmitted to an external device (e.g., a vehicle) through an external interface (140).

[0120] [Explanation of the symbol]

[0121] 10 Modular control system for LiDAR devices

[0122] 100 Computing Control Unit

[0123] 110 main processor

[0124] 120 real-time processors

[0125] 130 memory

[0126] 140 External Interface

[0127] 200 Optical Control Unit

[0128] 210 Receiving Control Unit

[0129] 220 Transmission Control Unit

[0130] 230 Scanner Control Unit

[0131] 240 Sensor Monitor

[0132] 250 Window Heater

[0133] 300 Communication Line Section

Claims

1. A modular control system for controlling a LiDAR device comprising at least a scanner, a transmitting laser, and a receiving sensor, wherein An optical control unit comprising a transmission control unit for controlling the transmission laser and a reception control unit for controlling the reception sensor; A computing control unit including a main processor for controlling the above-mentioned lidar device and the above-mentioned optical control unit; and A communication line unit for transmitting signals between the computing control unit and the optical control unit; is included. The transmission control unit and the reception control unit are each modularized into independent blocks that are replaceable. Modular control system for lidar devices.

2. A modular control system for controlling a LiDAR device comprising at least a scanner, a transmitting laser, and a receiving sensor, wherein An optical control unit comprising a transmission control unit for controlling the transmission laser and a reception control unit for controlling the reception sensor; A computing control unit including a main processor for controlling the above-mentioned lidar device and the above-mentioned optical control unit; and A communication line unit for transmitting signals between the computing control unit and the optical control unit; is included. The computing control unit has a predetermined architecture, and when at least one of the transmitting laser, the receiving sensor, or the optical control unit is changed, the predetermined architecture remains unchanged. Modular control system for lidar devices.

3. In Paragraph 1 or 2, The above-mentioned receiving control unit is configured to convert an analog signal received from the above-mentioned receiving sensor into a data packet which is a digital signal, and The main processor is configured to receive the converted data packet from the reception control unit and to generate a point cloud based on the received data packet. Modular control system for lidar devices.

4. In Paragraph 3, The above computing control unit is, A real-time processor for synchronizing the transmitting laser and the receiving sensor; Memory; and additionally including an external interface, Modular control system for lidar devices.

5. In Paragraph 4, The above optical control unit is, A scanner control unit for controlling the above scanner; A sensor monitor for monitoring the above-mentioned lidar device and the surrounding environment; and A window heater for preventing at least one of condensation or frost on the lidar device; further comprising The above scanner control unit is modularized into independent blocks that are replaceable, Modular control system for lidar devices.

6. In Paragraph 5, The above communication line section is configured to transmit a signal by means of one of FPCB, PCB, coaxial cable, or wireless high-speed communication, Modular control system for lidar devices.

7. A modular control system for controlling a LiDAR device comprising at least a scanner, a transmitting laser, and a receiving sensor, wherein An optical control unit comprising a transmission control unit for controlling the transmission laser and a reception control unit for controlling the reception sensor; A computing control unit including a main processor for controlling the above-mentioned lidar device and the above-mentioned optical control unit; and A communication line unit for transmitting signals between the computing control unit and the optical control unit; is included. The optical control unit is configured to identify the transmitting laser and the receiving sensor, and to set parameters of the transmitting control unit and the receiving control unit. Modular control system for lidar devices.

8. A modular control system for controlling a LiDAR device comprising at least a scanner, a transmitting laser, and a receiving sensor, wherein An optical control unit comprising a transmission control unit for controlling the transmission laser and a reception control unit for controlling the reception sensor; A computing control unit including a main processor for controlling the above-mentioned lidar device and the above-mentioned optical control unit; and A communication line unit for transmitting signals between the computing control unit and the optical control unit; is included. The computing control unit and the optical control unit each have a predetermined first architecture and a predetermined second architecture, and when at least one of the transmitting laser or the receiving sensor is changed, the predetermined first architecture and the predetermined second architecture remain unchanged. Modular control system for lidar devices.

9. In Paragraph 7 or 8, The above-mentioned receiving control unit is configured to convert an analog signal received from the above-mentioned receiving sensor into a data packet which is a digital signal, and The main processor is configured to receive the converted data packet from the reception control unit and to generate a point cloud based on the received data packet. Modular control system for lidar devices.

10. In Paragraph 9, The above computing control unit is, A real-time processor for synchronizing the transmitting laser and the receiving sensor; Memory; and additionally including an external interface, Modular control system for lidar devices.

11. In Paragraph 8, The above optical control unit is, A scanner control unit for controlling the above scanner; A sensor monitor for monitoring the above-mentioned lidar device and the surrounding environment; and A window heater for preventing at least one of condensation or frost on the lidar device; further comprising The scanner control unit is configured to recognize the type of the scanner and set the parameters of the scanner control unit. Modular control system for lidar devices.

12. In Paragraph 11, If the above scanner is changed, the above predetermined first architecture and the above predetermined second architecture remain unchanged, Modular control system for lidar devices.

13. In Paragraph 12, The above communication line section is configured to transmit a signal by means of one of FPCB, PCB, coaxial cable, or wireless high-speed communication, Modular control system for lidar devices.

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