KR102680548B1 - Lidar apparatus compensating for angular resolution deviation and operating method thereof - Google Patents

Abstract

According to various embodiments of the present invention, by applying the LIDAR device and its operating method, it is possible to scan a wide angular range without deteriorating performance, and also measure a short-distance range within several meters. In addition, by applying the LIDAR device and its operating method, the angular resolution can be corrected to have uniform angular resolution from the edge to the center of the scan range.

Description

LIDAR device for compensating for angular resolution deviation and operating method thereof {LIDAR APPARATUS COMPENSATING FOR ANGULAR RESOLUTION DEVIATION AND OPERATING METHOD THEREOF}

The present invention relates to a LiDAR device and a method of operating the same. More specifically, it relates to a lidar device that corrects each resolution deviation and a method of operating the same.

LIDAR (Light Detection and Ranging) irradiates light, such as a laser, to an object and then analyzes the light reflected from the object to determine the physical properties of the object, such as distance, direction, speed, temperature, material distribution, and concentration characteristics. It is one of the remote sensing devices that can measure LIDAR can measure the physical properties of an object more precisely by utilizing the advantages of a laser that can generate pulse signals with high energy density and short period.

LIDAR uses a laser light source of a specific wavelength or a tunable laser light source as a light source and is used in various fields such as 3D image acquisition, weather observation, measuring the speed or distance of a subject, and autonomous driving. For example, LIDAR is mounted on aircraft and satellites and used for precise atmospheric analysis and observation of the global environment, and is mounted on spacecraft and exploration robots and is used as a means to supplement camera functions such as measuring the distance to a subject.

In addition, simple LiDAR sensor technologies are being commercialized on the ground for long-distance measurement and vehicle speed violation enforcement. Recently, it has been used as a laser scanner or 3D video camera and is being used in 3D reverse engineering and driverless cars.

Republic of Korea Patent Publication No. 10-2299264 (2021.09.01.) Republic of Korea Patent Publication No. 10-2263182 (2021.06.03.)

The purpose of the present invention is to provide a LiDAR device and a method of operating the same that can scan a wide angular range without deteriorating performance and can also measure a short-distance range within several meters.

The purpose of the present invention is to provide a LIDAR device and a method of operating the same that can have uniform angular resolution from the edge to the center of the scan range by correcting the angular resolution.

Other unspecified objects of the present invention can be additionally considered within the scope that can be easily inferred from the following detailed description and its effects.

A LIDAR device according to an embodiment of the present invention for achieving the above-described object includes a light source that emits first light; a light detector that detects a second light, which is light reflected by an object located on the scan area, among the first lights; a scanning unit that receives the emitted first light and reflects it toward the scan area, receives second light reflected from the object, and transmits the second light toward the light detector; and calculating at least one error value generated in the scanning unit, controlling the scanning unit to drive to correct each resolution deviation in response to the calculated error value, and using the detection result of the optical detector to detect the object. It includes a signal processing unit that obtains distance information about.

Here, the scanning unit includes: a reflection unit configured to adjust the scan area in the horizontal or vertical direction by performing a tilt drive in the horizontal or vertical direction; and a driving unit connected to the reflecting unit to drive the reflecting unit, wherein the signal processing unit calculates the error value based on a driving range and driving cycle in which the reflecting unit performs tilt driving.

Here, the reflection unit includes: a first mirror unit that adjusts the vertical field of view (FOV) of the scan area by performing a tilt drive in the vertical direction; And a second mirror unit that performs a tilt drive in the horizontal direction to adjust the horizontal field of view (FOV) of the scan area and performs a tilt drive in the vertical direction in response to the calculated error value. It is characterized by

Here, the driving unit includes: a first driving unit that tilts and drives the first mirror unit in a vertical direction by combining with a drive shaft of the first mirror unit and transmitting power so that the drive shaft rotates integrally with the first mirror unit; a second horizontal drive unit coupled to the horizontal drive shaft of the second mirror unit to tilt and drive the second mirror unit in the horizontal direction by transmitting power so that the horizontal drive shaft rotates integrally with the second mirror unit; And a second vertical drive unit coupled to the vertical drive shaft of the second mirror unit to tilt and drive the second mirror unit in the vertical direction by transmitting power so that the vertical drive shaft rotates integrally with the second mirror unit. It is characterized by

Here, the first mirror unit repeatedly tilt-drives a predetermined first driving range with a predetermined first driving cycle, and the signal processing unit performs tilt driving based on the predetermined first driving range and the predetermined first driving cycle. A reference value that serves as a standard for correction of each resolution deviation of the scanning unit is calculated, and an error value is calculated based on the calculated reference value and the driving angle of the first mirror unit.

Here, the reference value calculated by the signal processing unit is a driving angle assuming that the first mirror unit repeatedly linearly drives the predetermined first driving range with the predetermined first driving cycle, and the signal processing unit, The error value is calculated by subtracting the reference value from the driving angle of the first mirror unit.

Here, the signal processing unit provides a second drive cycle for tilt-driving the second mirror unit in the vertical direction in response to the predetermined first drive cycle and the predetermined first drive range, based on the calculated error value. and calculating the second driving range.

Here, the second vertical driving unit tilt-drives the second mirror unit in the vertical direction in response to the calculated second driving cycle and the calculated second driving range.

Here, a first angle sensor that measures a driving angle of the first mirror unit and transmits the measured angle information to the signal processing unit; and a second angle sensor that measures the driving angle of the second mirror unit and transmits the measured angle information to the signal processing unit.

Here, the signal processor controls the output and pulse repetition rate of the light source, calculates the error value based on the transmitted angle information of the first mirror, and calculates the error value based on the transmitted angle information of the second mirror and the calculated The driving angle of the second mirror unit is controlled through the driving unit using an error value.

Here, the scanning unit includes a transmitting member that adjusts the first light incident from the light source to become parallel light; It includes at least one hole and a reflective surface surrounding the hole, and adjusts the optical axes of the first light and the second light to be the same by passing the first light through the hole, and an optical axis adjustment unit that reflects the second light using a reflective surface; and a receiving member that condenses the second light reflected from the reflective surface and makes it incident on the light detector.

Here, the photo detector is characterized by being composed of an InGaAs-based PIN type, APD type, or SPAD type.

A method of operating a LiDAR device performed in a LiDAR device including a light source, a light detector, a scanning unit, a signal processing unit, and a driving unit according to an embodiment of the present invention to achieve the above-described object includes the light source, the first light releasing; the scanning unit receiving the emitted first light and reflecting it toward the scan area, receiving second light reflected from the object, and transmitting the second light toward the light detector; detecting, by the light detector, a second light that is light reflected by an object located on a scan area among the first lights; and the signal processing unit calculates at least one error value generated in the scanning unit, controls the scanning unit to drive to correct each resolution deviation in response to the calculated error value, and detects a result of the photo detector. It includes; obtaining distance information about the object using .

As described above, according to an embodiment of the present invention, by applying the LIDAR device and its operating method, it is possible to scan a wide angular range without deteriorating performance, and can also measure a short-distance range within several meters. .

Additionally, according to an embodiment of the present invention, by applying the LIDAR device and its operating method, the angular resolution can be corrected to have uniform angular resolution from the edge to the center of the scan range.

Even if the effects are not explicitly mentioned here, the effects described in the following specification and their potential effects expected by the technical features of the present invention are treated as if described in the specification of the present invention.

1 to 2 are diagrams for explaining a LiDAR device according to an embodiment of the present invention.
3 to 4 are diagrams for explaining in detail a LiDAR device according to an embodiment of the present invention.
Figure 5 is a diagram for explaining the optical axis adjustment unit of the LiDAR device according to an embodiment of the present invention.
Figure 6 is a diagram to explain problems caused by vertical scan driving of a conventional LiDAR device.
Figure 7 is a diagram to explain problems caused by vertical scan driving and horizontal scan driving of a conventional LiDAR device.
Figure 8 is a diagram for explaining the operation process of the first mirror unit and the second mirror unit of the lidar device according to an embodiment of the present invention.
Figure 9 is a diagram for explaining a method of calculating an error value of a LiDAR device according to an embodiment of the present invention.
FIG. 10 is a diagram for explaining vertical scan driving of a LIDAR device according to an embodiment of the present invention according to the error value calculation method described with reference to FIG. 9.
FIG. 11 is a diagram for explaining vertical scan driving and horizontal scan driving of a LIDAR device according to an embodiment of the present invention according to the error value calculation method described with reference to FIG. 9.
Figure 12 is a diagram for explaining the operation process of a LiDAR device according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. The present embodiments are merely intended to ensure that the disclosure of the present invention is complete, and that the present invention is not limited to the embodiments disclosed below and is provided by those skilled in the art It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with meanings that can be commonly understood by those skilled in the art to which the present invention pertains. Additionally, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless clearly specifically defined.

The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular terms include plural expressions unless the context clearly dictates otherwise. In this application, terms such as “have,” “may have,” “includes,” or “may include” refer to features, numbers, steps, operations, components, parts, or combinations thereof described in the specification. It is intended to specify the existence, but should be understood as not excluding in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof. Terms containing ordinal numbers, such as second, first, etc., may be used to describe various components, but the components are not limited by the terms.

The above terms are used only for the purpose of distinguishing one component from another. For example, the second component may be referred to as the first component without departing from the scope of the present invention, and similarly, the first component may also be referred to as the second component. The term and/or includes any of a plurality of related stated items or a combination of a plurality of related stated items.

In this specification, identification codes (e.g., a, b, c, etc.) for each step are used for convenience of explanation. The identification codes do not describe the order of each step, and each step is clearly understood in the context. Unless a specific order is specified, events may occur differently from the specified order. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the opposite order.

Additionally, the term '~unit' used in this specification may mean software or hardware components such as FPGA (field-programmable gate array) or ASIC, and the '~unit' performs certain roles. However, '~part' is not limited to software or hardware. The '~ part' may be configured to reside in an addressable storage medium and may be configured to reproduce on one or more processors. Therefore, as an example, '~ part' refers to components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, and procedures. , subroutines, segments of program code, drivers, firmware, microcode, circuits, data structures, and variables. The functions provided within the components and 'parts' may be combined into a smaller number of components and 'parts' or may be further separated into additional components and 'parts'.

Hereinafter, various embodiments of the LiDAR device according to the present invention will be described in detail with reference to the attached drawings.

Embodiments described in this specification can be widely applied in various fields such as sensors for detecting obstacles in robots and unmanned vehicles, radar guns for speed measurement, aerial geo-mapping devices, 3D ground surveys, and underwater scanning.

1 to 2 are diagrams for explaining a LiDAR device according to an embodiment of the present invention.

Referring to FIGS. 1 and 2 , the LIDAR device 10 may include a light source 100, a scanning unit 200, a light detector 300, and a signal processing unit 400.

The light source 100 may be a device that emits light. For example, the light source 100 may emit light in the infrared region. Using light in the infrared range can prevent it from mixing with natural light in the visible range, including sunlight. However, it is not necessarily limited to the infrared region, and the light source 100 can emit light in various wavelength regions. In these cases, correction to remove information from mixed natural light may be required.

The light source 100 may emit first light L1. According to one embodiment of the present invention, the light source 100 may be a fiber laser. The optical fiber laser is preferably implemented to have a laser wavelength in the 1.5 to 1.7 um band, kW peak power, and MHz laser pulse repetition rate.

The scanning unit 200 receives the emitted first light L1 and reflects it toward the scan area, receives the second light L2 reflected from the object 20, and connects the optical axis and the optical axis of the first light L1. By adjusting the optical axis of the second light L2 to be the same, the second light L2 can be transmitted toward the light detector 300.

Referring to FIG. 4, adjusting the optical axis of the first light (L1) and the optical axis of the second light (L2) to be the same may mean adjusting the optical path between the optical axis adjusting unit 220 and the object 20 to be the same. there is.

In the present invention, the optical axis may refer to an imaginary line indicating an optical path through which light transmits in an optical system, but is not necessarily limited thereto.

The scanning unit 200 will be described in more detail with reference to FIGS. 3 to 5 .

The light detector 300 may detect the second light L2, which is light reflected (or scattered) by the object 20 located on the scan area, among the first light L1.

The light detector 300 may convert the second light L2 reflected or scattered from the object 20 among the first light L1 into an electrical signal, for example, a current. The first light L1 emitted from the light source 100 is irradiated to the object 20 and may be reflected or scattered by the object 20 . Among the first light L1, the light reflected or scattered by the object 20 is called the second light L2. The first light L1 and the second light L2 may have substantially the same wavelength and different intensities.

According to one embodiment of the present invention, the photodetector 300 may be a single-element photodetector. Single-element photodetectors are connected by optical fibers. The laser spot focused on the receiving member 230 is focused on an optical fiber, and the optical fiber can transmit the laser beam to a single-element photo detector. Here, the single-element photodetector may be an InGaAs-based PIN type, APD type, or SPAD type.

The photo detector 300 may further include a current-voltage conversion circuit that converts the output current into voltage and an amplifier (not shown) that amplifies the amplitude of the voltage. In addition, the photo detector 300 may further include a filter that filters an electrical signal of a specific frequency, for example, a high-pass filter.

The optical fiber-connected single-element photodetector has higher sensitivity and response speed than the array-type photodetector used in general LiDAR, and can receive laser signals at high speed, thereby improving the resolution of 3D image information compared to general LiDAR.

The signal processing unit 400 may obtain distance information about the object 20 using the detection result of the light detector 300. The signal processing unit 400 may determine the distance from the LIDAR device 10 to the object 20 located on the scan area based on the detected second light L2. The signal processing unit 400 may calculate the distance to the object 20 based on the light emission time of the light source 100 and the light detection time of the light detector 300.

The signal processing unit 400 may calculate at least one error value for correcting each resolution deviation of the scanning unit 200 and control the scanning unit 200 to drive in response to the calculated error value.

Here, the error value may be a value for each resolution deviation that occurs while the scanning unit 200 is driven to reflect the first light L1 toward the scan area.

The process by which the signal processing unit 400 calculates an error value for correcting each resolution deviation will be described in more detail with reference to FIG. 9.

Additionally, the signal processing unit 400 can control the operation of each component of the LiDAR device 10, such as the light source 100, the scanning unit 200, and the light detector 300.

More specifically, the signal processing unit 400 can control the output and pulse repetition rate of the light source 100, and control the tilt driving angles of the first mirror unit 241 and the second mirror unit 242, which will be described later. You can. The signal processing unit 400 may receive the second light L2 and calculate distance information of the object 20 with respect to three-dimensional coordinates.

According to an embodiment of the present invention, the signal processing unit 400 may adjust the signal intensity of the first light L1 based on a threshold and a weight.

More specifically, when the signal intensity of the second light L2 received by the photo detector 300 is lower than the first threshold, the signal processing unit 400 determines the signal intensity of the transmitted first light L1 and The signal intensity of the first light L1 emitted by the light source 100 may be adjusted to have a signal intensity equal to a value multiplied by the first weight (eg, 1.3).

When the signal intensity of the second light L2 received by the photo detector 300 is greater than the first threshold and less than the second threshold, the signal processing unit 400 combines the signal intensity of the transmitted first light L1 with the second threshold. The signal intensity of the first light L1 emitted by the light source 100 may be adjusted to have a signal intensity equal to a value multiplied by 2 weights (for example, 1.1).

When the signal intensity of the second light L2 received by the photo detector 300 is greater than the second threshold, the signal processing unit 400 controls the signal intensity of the transmitted first light L1 and a third weight (for example, , 0.8), the signal intensity of the first light L1 emitted by the light source 100 can be adjusted to have a signal intensity equal to the value multiplied by , 0.8).

When the signal intensity of the second light (L2) received by the light detector 300 has the same value as the first threshold, the signal processing unit 400 determines the signal intensity of the transmitted first light (L1) and the first weight. The first light (e.g., 1.3) emitted by the light source 100 to have a signal intensity equal to the product of the average value (in the above example, 1.2) of the second weight (e.g., 1.1) The signal strength of L1) can be adjusted.

When the signal intensity of the second light (L2) received by the light detector 300 has the same value as the second threshold, the signal processing unit 400 determines the signal intensity of the transmitted first light (L1) and the second weight. The first light emitted by the light source 100 to have a signal intensity equal to the product of (e.g., 1.1), the third weight (e.g., 0.8), and the average value (in the above example, 0.95) You can adjust the signal strength of (L1).

LiDAR systems are being developed with the goal of wide scanning angles and high resolution. However, as the scanning angle widens, the optical system configuration of the receiver and the performance of the laser detector improve the performance of the LiDAR system, such as 3D image information measurement distance and spatial resolution. This is degraded.

Existing LIDAR systems use an array detector to receive light at a wide scan angle, or receive reflected light from a target through rotation. However, array detectors have the disadvantage of having a longer response time than single element detectors, which shortens the measurement distance and reduces angular resolution.

In addition, when the transmitter and receiver are separated, there is a problem in that the target distance cannot be measured in an area where the FOV (field of view) of the transmit laser beam and the receiving optical system do not overlap, and short distances of less than 1 meter cannot be measured. . In order to compensate for these shortcomings, we propose a wide-angle coaxial scanning optical system in which the optical axis of the wide-angle transmitted laser beam (first light (L1)) and the optical axis of the received laser beam (second light (L2)) are the same.

Not all blocks shown in FIGS. 1 and 2 are essential components, and in other embodiments, some blocks connected to the LIDAR device 10 may be added, changed, or deleted.

Figures 3 and 4 are diagrams for explaining in detail the LiDAR device according to an embodiment of the present invention.

Referring to FIGS. 3 and 4, the LIDAR device 10 further includes a driving unit 250, a first angle sensor 810, a second angle sensor 820, an optical window 500, and a display unit 700. It can be included.

Additionally, the scanning unit 200 may include a transmitting member 210, an optical axis adjusting unit 220, a receiving member 230, and a reflecting unit 240.

The scanning unit 200 may include a transmission member 210 that adjusts the first light L1 incident from the light source 100 to become parallel light. The transmission member 210 may be formed as an optical lens so that the first light L1 output from the beam transmission optical fiber of the light source 100 becomes parallel light.

The scanning unit 200 may include a receiving member 230 that condenses the second light L2 reflected from the reflective surface of the optical axis adjusting unit 220 and makes it incident on the light detector 300. The receiving member 230 may be formed as an optical lens to focus the second light L2 reflected from the object 20 and transmit it to the light detector 300.

The scanning unit 200 includes at least one hole and a reflective surface surrounding the hole, and transmits the first light L1 using the hole to generate the first light L1 and the second light (L1). It may include an optical axis adjustment unit 220 that adjusts the optical axis of L2 to be the same and reflects the second light L2 using a reflective surface.

The optical axis adjustment unit 220 will be described in more detail with reference to FIG. 5 .

The scanning unit 200 reflects the emitted first light L1 toward the object 20, reflects the second light L2 reflected from the object 20 toward the light detector 300, and scans the scan area. It may include a reflector 240 configured to adjust .

The reflector 240 may be configured to adjust the scan area in the horizontal or vertical direction by performing a tilt drive in the horizontal or vertical direction. Here, the signal processing unit 400 performs a tilt drive in the reflector 240. The error value can be calculated based on the driving range and driving cycle.

The error value calculated by the signal processing unit 400 may be calculated in real time during the operation of the LiDAR device 10, but may be calculated in advance and stored in the signal processing unit 400 before the operation of the LiDAR device 10. there is.

The driver 250 is connected to the reflector 240 and can drive the reflector 240 in response to the calculated error value. For example, if the calculated error value is +25, the driver 250 may drive the reflector 240 to tilt by +25 degrees.

The reflector 240 performs a tilt drive in the vertical direction to adjust the vertical field of view (FOV) of the scan area, and the first mirror unit 241 performs a tilt drive in the horizontal direction to adjust the horizontal field of view (FOV) of the scan area. It may include a second mirror unit 242 that adjusts the field of view (FOV) and performs a tilt drive in the vertical direction in response to the calculated error value.

According to one embodiment of the present invention, the driving unit 250 may include a first driving unit (not shown) and a second driving unit (not shown).

The first driving unit may tilt-drive the first mirror unit 241 in the vertical direction. More specifically, the first tilting unit included in the first driving unit is combined with the driving shaft (not shown) of the first mirror unit 241 to transmit power so that the driving shaft rotates integrally with the first mirror unit 241. The first mirror unit 241 can be driven to tilt in the vertical direction.

The second driving unit may include a second vertical driving unit and a second horizontal driving unit.

The second horizontal driving unit may tilt-drive the second mirror unit 242 in the horizontal direction. More specifically, the second horizontal tilting unit included in the second horizontal driving unit is coupled to the horizontal driving shaft (not shown) of the second mirror unit 242 and provides power so that the horizontal driving shaft rotates integrally with the second mirror unit 242. The second mirror unit 242 can be driven to tilt in the horizontal direction by transmitting .

The second vertical driving unit may tilt-drive the second mirror unit 242 in the vertical direction. More specifically, the second vertical tilting unit included in the second vertical driving unit is combined with the vertical driving axis (not shown) of the second mirror unit 242 to obtain an error value calculated by the signal processing unit 400 or a pre-calculated signal processing unit. The second mirror unit 242 can be tilt driven in the vertical direction by transmitting power so that the vertical drive shaft rotates integrally with the second mirror unit 242 in response to the error value stored in 400.

Since the second horizontal driver and the second vertical driver do not affect each other during operation, the second horizontal driver and the second vertical driver can operate simultaneously to drive the second mirror unit 242 in the horizontal direction and the vertical direction, respectively. However, it is not necessarily limited to this and may operate sequentially.

According to one embodiment of the present invention, the first mirror unit 241 and the second mirror unit 242 may be MEMS (Micro Electro Mechanical Systems) mirrors.

The conventional LiDAR optical system has the advantage of being able to scan a wide area by transmitting and receiving lasers through mechanical rotation, but has problems with mechanical durability. To solve this problem, a mechanical rotating part can be solved using a MEMS mirror.

The MEMS mirror scans a horizontal or vertical FOV (Field of View) by tilting in the horizontal or vertical direction, and the scan angle range of the LiDAR device 10 can be determined depending on the driving angle of the MEMS mirror.

The first mirror unit 241 may be repeatedly tilt driven in a predetermined first driving range (eg, -45 degrees to 45 degrees) with a predetermined first driving cycle (eg, 10 ms).

The signal processing unit 400 calculates a reference value that serves as a standard for correction of each resolution deviation of the scanning unit 200 based on the predetermined first driving range and the predetermined first driving cycle of the first mirror unit 241. An error value can be calculated based on the reference value and the driving angle of the first mirror unit 241.

Here, the reference value may be a driving angle assuming that the first mirror unit 241 is repeatedly linearly driven in a predetermined first driving range with a predetermined first driving cycle.

The signal processing unit 400 can calculate the error value by subtracting a reference value from the driving angle of the first mirror unit 241. For example, if the driving angle of the first mirror unit 241 is 35 degrees and the reference value is 22.5 degrees, the error value may be 12.5 degrees.

The first angle sensor 810 may measure the driving angle of the first mirror unit 241 and transmit the measured angle information to the signal processing unit 400.

The second angle sensor 820 may measure the driving angle of the second mirror unit 242 and transmit the measured angle information to the signal processing unit 400.

The signal processing unit 400 may receive the driving angles of the first mirror unit 241 and the second mirror unit 242 using the first angle sensor 810 and the second angle sensor 820.

The signal processing unit 400 controls the output and pulse repetition rate of the light source 100, calculates an error value based on the angle information of the transmitted first mirror unit 241, and calculates the error value of the transmitted second mirror unit 242. The driving angle of the second mirror unit 242 can be adjusted through the driving unit 250 using the angle information and the calculated error value. For example, when the driving angle of the first mirror unit 241 is 35 degrees, the reference value is 22.5 degrees, and the error value is 12.5 degrees, the signal processing unit 400 operates the second mirror unit 242 through the driving unit 250. ) can be tilt driven by 12.5 degrees.

The first mirror unit 241 performs a preset vertical rotation (tilt drive), and the second mirror unit 242 performs a preset horizontal rotation of the transmission light to direct the transmission light (first light) to the object ( Send to 20). Transmission light may be transmitted along a scan path of a wavy waveform (eg, a sinusoidal waveform) within a predetermined scan area.

Here, the first mirror unit 241 and the second mirror unit 242 may be synchronized with each other to form a scan path. In other words, the first mirror unit 241 and the second mirror unit 242 can form a scan path of the transmission beam by matching the angles and speeds for horizontal rotation and vertical rotation through synchronization. Here, depending on the angle and speed settings for each of the horizontal and vertical rotations of the first mirror unit 241 and the second mirror unit 242, the scan path of the transmission beam has sizes in terms of amplitude, wavelength, period, etc. can be changed.

The LIDAR device 10 uses a first light L1 obtained from the scanning unit 200 and reflected toward the scan area and a second light L2 reflected from the object 20 and obtained from the scanning unit 200. It may further include an optical window 500 for transmission.

The display unit 700 can display 3D object image information output from the LIDAR system 10.

According to one embodiment of the present invention, the LIDAR device 10 may additionally include a received light quantity confirmation unit (not shown).

The received light quantity confirmation unit measures the received light quantity on the receiving side. The received light amount confirmation unit may be implemented as a module that measures the amount of received light reflected from the object 20 in conjunction with the optical window 500, the reflector 240, etc., but is not necessarily limited to this, and is linked to the light detector 300. Alternatively, it may be implemented in the form of hardware included in the light detector 300 or a program installed in the light detector 300.

The signal processor 400 may compare the measured received light amount with a preset reference light amount to adjust the transmitted light amount, the rotation angle of the reflector 240, the rotation speed of the reflector 240, etc.

Specifically, when the measured amount of received light is less than the reference light amount, the signal processor 400 determines the amount of transmitted light, the rotation angle of the reflector 240, and the rotation speed of the reflector 240 (for example, the first mirror unit 241). and the driving angle and driving speed of the second mirror unit 242) can be adjusted.

The signal processor 400 may adjust the received light amount to be equal to or higher than the reference light amount using one of the first adjustment value, the second adjustment value, and the third adjustment value.

The signal processing unit 400 may adjust the transmission light amount by applying the first adjustment value to the existing transmission light amount, and then, if the measured received light amount is greater than or equal to the reference light amount, update the transmission light amount to the adjusted transmission light amount. In addition, the signal processor 400 adjusts the rotation angle of the reflector 240 by applying a second adjustment value to the rotation angle of the existing reflector 240, and when the measured amount of received light is greater than or equal to the reference light amount, the reflector 240 ) can be updated to the adjusted rotation angle. In addition, the signal processor 400 adjusts the rotation speed of the reflector 240 by applying a third adjustment value to the rotation speed of the existing reflector 240, and when the measured amount of received light is greater than or equal to the reference light amount, the reflector 240 ) can be updated to the adjusted rotation speed.

Meanwhile, even when one of the first adjustment value, the second adjustment value, and the third adjustment value is used, the signal processing unit 400 uses the first adjustment value, the second adjustment value, and the third adjustment value when the measured received light amount is less than the reference light amount. By applying each adjustment value sequentially, the received light amount can be adjusted to exceed the standard light amount.

For example, the signal processor 400 adjusts the amount of transmitted light by first applying the first adjustment value, and sequentially applies the second adjustment value and the third adjustment value, respectively, to adjust the rotation angle and reflection of the reflector 240. The rotation speed of unit 240 can be adjusted. Here, the order of applying the adjustment values may change depending on the settings.

Meanwhile, the signal processor 400 adjusts the condition using a combination of some adjustment values if the measured received light amount is less than the standard light amount even when one or all of the first adjustment values, second adjustment values, and third adjustment values are applied sequentially. Thus, the received light amount can be adjusted to exceed the standard light amount.

Specifically, the signal processing unit 400 may adjust the received light amount to more than the reference light amount by applying at least one adjustment value among the first adjustment value, the second adjustment value, and the third adjustment value.

For example, the signal processor 400 may adjust the amount of transmitted light and the rotation angle of the reflector 240 by combining the first adjustment value and the second adjustment value. Here, the signal processing unit 400 may reflect and combine the respective ratios of the first adjustment value and the second adjustment value differently. That is, the signal processing unit 400 can adjust the amount of transmitted light and the rotation angle of the reflection unit 240 by combining the first adjustment value and the second adjustment value with different weights.

The signal processing unit 400 can transform and combine the first adjustment value, the second adjustment value, and the third adjustment value into various conditions that can be combined, and then apply them to adjust the received light amount to a reference light amount or more.

Not all blocks shown in FIGS. 3 and 4 are essential components, and in other embodiments, some blocks connected to the LIDAR device 10 may be added, changed, or deleted.

Figure 5 is a diagram for explaining the optical axis adjustment unit of the LiDAR device according to an embodiment of the present invention.

Referring to (a) of FIG. 5, the optical axis adjustment unit 220 may be formed to include at least one hole 221 and a reflective surface 222 surrounding the hole 221. The optical axis adjusting unit 220 adjusts the optical axes of the first light L1 and the second light L2 to be the same by passing the first light L1 through the hole 221, and adjusts the optical axis of the first light L1 and the second light L2 to be the same. The second light L2 can be reflected using .

The hole 221 may pass the first light L1 and may be located at the center of the optical axis adjustment unit 220.

It is preferable that the reflective surface 222 is coated with a material having a high reflectivity in the 1.5 to 1.7 um wavelength range.

Available materials include highly reflective white resins, metals, and reflective paints. White resin may include white foamed PET material or white POLYCARBONATE material. The reflectivity of these materials is about 97%, and because the reflection loss of light is small, there is little decrease in efficiency. As the metal, at least one selected from the group consisting of high reflectivity metals such as Ag, Al, Au, Cu, Pd, Pt, Rd, and alloys thereof can be used. The reflective surface 222 may be formed by deposition. Alternatively, reflective paints containing reflective materials such as titanium oxide (TiO ₂ ), zinc oxide (ZnO), and calcium carbonate (CaCO ₃ ), which have a reflectance of 80 to 90%, alone or in combination, can be used. Such a reflective paint can be formed by diluting it with an adhesive in a solvent and applying it to a material such as plastic. Application methods include spray and roller.

Referring to (b) of FIG. 5, it can be seen that the optical axes of the second light L2 incident on the reflective surface 222 and the first light L1 passing through the hole 221 substantially coincide. .

The LiDAR device 10 has an angle of the second light L2 incident on the receiving member 230 even if the scan angle of the first light L1 changes depending on the reflector 240 (e.g., MEMS mirror). Since is always constant, the photodetector 300 connected to an optical fiber (for example, a single-element photodetector connected to an optical fiber) can be used.

Figure 6 is a diagram to explain problems caused by vertical scan driving of a conventional LiDAR device.

Referring to FIG. 6, the first mirror unit 241 performs a vertical tilt drive rather than a linear drive, so the vertical spacing between scanning points due to the tilt drive of the first mirror unit 241 is not constant and uneven. You can check it.

More specifically, in the vertical direction of the scan area, angular resolution deviation occurs between the edge and the center. The vertical interval between scanning points becomes longer from the upper edge to the center, and becomes shorter as it moves from the center to the lower edge. . As the center is scanned more closely than the edges, angular resolution deviation occurs.

Figure 7 is a diagram to explain problems caused by vertical scan driving and horizontal scan driving of a conventional LiDAR device.

Referring to FIG. 7, the first mirror unit 241 performs a vertical tilt drive rather than a linear drive, so the vertical spacing between scanning points due to the tilt drive of the first mirror unit 241 is not constant and uneven. You can check it. In addition, as the second mirror unit 242 performs tilt driving in the horizontal direction, it can be confirmed that the vertical spacing between scanning points is not constant and uneven throughout the scan area.

As shown in FIGS. 6 and 7, the conventional LiDAR device scans the vertical direction by reflecting the laser beam on the MEMS mirror. However, since the driving angle of the MEMS mirror over time has non-linearity, the edge and center when the MEMS mirror is driven. Since angular resolution deviation occurs in the vertical direction, there is a problem that angular resolution is lowered.

Figure 8 is a diagram for explaining the operation process of the first mirror unit and the second mirror unit of the lidar device according to an embodiment of the present invention.

Referring to FIG. 8, the first mirror unit 241 may be repeatedly tilt-driven in a predetermined first driving range during a first predetermined driving cycle. As the first mirror unit 241 performs the tilt drive, the angular resolution deviation as confirmed in FIGS. 6 and 7 occurs, and the second mirror unit 242 generates the tilt drive from the first mirror unit 241. By performing a vertical compensation tilt drive to correct the vertical angle deviation, the angular resolution of the LiDAR device 10 can be corrected to be uniform.

① in FIG. 8 indicates that the first mirror unit 241 is tilted by +30 degrees. ② indicates that the first mirror unit 241 is tilted by 0 degrees. ③ indicates that the first mirror unit 241 is tilted by -30 degrees.

ⓑ indicates that the second mirror unit 242 is tilted by +5 degrees. ⓐ indicates that the second mirror unit 242 is tilted by 0 degrees. ⓒ indicates that the second mirror unit 242 is tilted by -5 degrees.

Referring to FIG. 8, the deviation that occurs as the first mirror unit 241 is sequentially tilt driven in the ①->②->③ state is the second mirror unit 242 in the ⓐ->ⓑ->ⓐ-> state. It can be corrected by sequentially tilting in the ⓒ->ⓐ state.

In addition, the deviation that occurs as the first mirror unit 241 is sequentially tilt driven in the ③->②->① state is the second mirror unit 242 in the ⓐ->ⓒ->ⓐ->ⓑ->ⓐ state. It can be corrected by sequentially performing tilt operation.

The signal processing unit 400 is configured to drive the second mirror unit 242 in the vertical direction in response to the first mirror unit 241 repeatedly tilt-driving a predetermined first driving range with a predetermined first driving cycle. The second drive cycle and second drive range can be calculated.

In response to this, the second vertical driving unit may tilt-drive the second mirror unit 242 in the vertical direction repeatedly in the second driving range in the second driving cycle.

Separately, the second horizontal driving unit tilt-drives the second mirror unit repeatedly in a predetermined third driving range (eg, -55 degrees to 55 degrees) with a predetermined third driving cycle (eg, 30 ms). You can do it.

According to an embodiment of the present invention, the signal processing unit 400 may calculate a maximum error value, which is the largest value among at least one error value generated in the first mirror unit 241, in order to calculate the second driving range. . Additionally, the second driving cycle calculated by the signal processing unit 400 may be a value corresponding to half of the first driving cycle.

For example, if the calculated maximum error value is 5 degrees and the first drive cycle is 10 ms, the signal processor 400 may determine the second drive range to be -5 degrees to 5 degrees, and the second drive cycle is 5 ms. can be decided.

The driving angle and driving process of the first mirror unit 241 and the second mirror unit 242 described with reference to FIG. 8 correspond to an embodiment of the present invention and are not necessarily limited thereto.

Figure 9 is a diagram for explaining a method of calculating an error value of a LiDAR device according to an embodiment of the present invention.

Figure 9 (a) shows that the first mirror unit 241 of the lidar device according to an embodiment of the present invention has a predetermined first driving range (-45 degrees to 45 degrees) and a predetermined first driving cycle (10 ms). ) is a graph showing the driving angle of the first mirror unit 241 measured by the first angle sensor 810 as it is repeatedly “tilted driven (nonlinear driven)”.

Figure 9 (b) shows that the first mirror unit 241 of the lidar device according to an embodiment of the present invention has a predetermined first driving range (-45 degrees to 45 degrees) and a predetermined first driving cycle (10 ms). ) is a graph continuously showing the driving angle of the first mirror unit 241 calculated by the signal processing unit 400 as it is repeatedly “linearly driven” according to ).

According to an embodiment of the present invention, the reference value calculated by the signal processing unit 400 is the value when assuming that the first mirror unit 241 repeatedly linearly drives a predetermined first driving range with a predetermined first driving cycle. It may be the driving angle. For example, referring to (b) of FIG. 9, the reference value at 1.25 ms may be 22.5 degrees, and the reference value at 10 ms may be 45 degrees.

According to an embodiment of the present invention, the error value calculated by the signal processing unit 400 may be a value obtained by subtracting the reference value from the driving angle of the first mirror unit 241.

FIG. 9(c) is a diagram showing error values calculated at predetermined unit time intervals (for example, 0.35 ms) in the embodiments of FIG. 9(a) and FIG. 9(b).

According to an embodiment of the present invention, the signal processing unit 400 may calculate an error value at predetermined unit time intervals and control the second mirror unit 242 to drive in response to the calculated error value.

If the signal processing unit 400 calculates the error value in real time and controls the second mirror unit 242 to drive in response to the calculated error value, the computational processing amount increases, which can actually lead to a larger error of the lidar device 10. Because it can cause it.

FIG. 9(d) is a diagram for explaining the driving direction of the second mirror unit 242 according to the error value calculated in the embodiment of FIG. 9(a) and FIG. 9(b).

Referring to (d) of FIG. 9, since the error value is 0 at 0 ms, 2.5 ms, 5 ms, 7.5 ms, and 10 ms, the signal processing unit 400 controls the second mirror unit 242 to be at 0 degrees.

In the period between 0 ms and 2.5 ms, the signal processing unit 400 controls the vertical tilt driving angle of the second mirror unit 242 to have a positive value.

In the period between 2.5 ms and 5 ms, the signal processing unit 400 controls the vertical tilt driving angle of the first mirror unit 241 to have a negative value.

In the period between 5 ms and 7.5 ms, the signal processing unit 400 controls the vertical tilt driving angle of the second mirror unit 242 to have a negative value.

In the period between 7.5 ms and 10 ms, the signal processing unit 400 controls the vertical tilt driving angle of the second mirror unit 242 to have a positive value.

That is, in the section where the error value has a positive value, the vertical tilt driving range of the second mirror unit 242 is driven in a positive range (for example, 0 degrees to 45 degrees), and when the error value is a negative value In the section having , the vertical tilt driving range of the second mirror unit 242 is driven in a negative range (for example, 0 degrees to -45 degrees).

FIG. 10 is a diagram for explaining vertical scan driving of a LIDAR device according to an embodiment of the present invention according to the error value calculation method described with reference to FIG. 9.

Referring to FIG. 10, by tilting and driving the second mirror unit 242 in the vertical direction according to the error value calculation method described in FIG. 9, the spacing between scanning points is uniform from the edge to the center in the vertical range of the scan area. This appearance can be confirmed. In other words, the angular resolution can be corrected to have uniform angular resolution from the edge to the center of the scan range.

FIG. 11 is a diagram for explaining vertical scan driving and horizontal scan driving of a LIDAR device according to an embodiment of the present invention according to the error value calculation method described with reference to FIG. 9.

Referring to FIG. 11, as the second mirror unit 242 performs tilt driving in the vertical direction as well as tilt driving in the horizontal direction, the vertical spacing between scanning points may appear constant throughout the scan area.

Figure 12 is a diagram for explaining the operation process of the LiDAR device according to an embodiment of the present invention.

In step S101, the light source 100 may emit first light L1.

In step S102, the scanning unit 200 receives the emitted first light L1 and reflects it toward the scan area, receives the second light L2 reflected from the object 20, and receives the second light L2 ) can be transmitted toward the photo detector.

In step S103, the light detector 300 may detect the second light L2, which is light reflected by the object 20 located on the scan area, among the first light L1.

In step S104, the signal processing unit 400 calculates an error value to correct each resolution deviation of the scanning unit 200 and obtains distance information about the object 20 using the detection result of the light detector 300. can do.

In step S104, the driving unit 250 is connected to the scanning unit 200 and can drive the scanning unit 200 in response to the calculated error value.

In FIG. 12, it is described that each process is executed sequentially, but this is only an illustrative explanation, and those skilled in the art can change the order shown in FIG. 12 and execute it without departing from the essential characteristics of the embodiments of the present invention. Alternatively, it may be applied through various modifications and modifications, such as executing one or more processes in parallel or adding other processes.

According to another embodiment of the present invention, the LIDAR device 10 may further include a driving angle counting unit (not shown), and the display unit 20 may include a first lamp (not shown) and a second lamp. (not shown) may be included.

The driving angle counting unit (not shown) may calculate the total of the driving angles of the first mirror unit 241 and the second mirror unit 242, respectively. For example, if the first mirror unit 241 is driven by an angle of 15 degrees during the first driving operation, driven by an angle of 12 degrees during the second driving operation, and driven by an angle of 22 degrees during the third driving operation, the driving angle counting unit (not shown) can be calculated that the first mirror unit 241 has been driven a total of 49 degrees.

The first lamp turns on when the total driving angle of the first mirror unit 241 calculated by the driving angle counting unit is greater than or equal to a predetermined first threshold value (for example, 50,000) to inform the user of the first mirror unit ( It may be notified that the replacement cycle of the driving member connected to the driving unit 250 in order to drive 241) has elapsed.

The second lamp turns on when the total driving angle of the second mirror unit 242 calculated by the driving angle counting unit is greater than or equal to a predetermined second threshold (for example, 70,000) to inform the user of the second mirror unit ( It may be notified that the replacement cycle of the driving member connected to the driving unit 250 in order to drive 242) has elapsed.

Since the first mirror unit 241 and the second mirror unit 242 inevitably perform rotational or tilting operation frequently during the operation of the lidar device 10, the first mirror unit 241 and the second mirror unit ( Damage and wear inevitably occur in the member that secures the 242) to the LiDAR device 10 and the driving member connected to the driving unit 250, which is due to the distance data of the object 20 output by the LiDAR device 10. It may cause errors.

The LiDAR device 10 notifies the user of the replacement cycle of the driving member connected to the driving unit 250 through the driving angle counting unit, the first lamp, and the second lamp, thereby allowing the user to replace the driving member connected to the driving unit 250. By doing so, errors in the distance data for the object 20 output by the LIDAR device 10 can be prevented.

On the other hand, although no special mention was made regarding the control unit (not shown) in the above-described embodiment, the LIDAR device 10 according to this embodiment may further include a control unit. In that case, the control unit may be implemented to transmit the received signal or the received and processed signal to an external device.

The above-mentioned control unit may be implemented with at least one device selected from a logic circuit, programming logic controller, microcomputer, microprocessor, etc., and may include a communication module or be coupled to a communication module. The communication module communicates with external devices through an intranet, Internet, vehicle network, etc., and can transmit signals or data related to the object 20 detected through laser scanning or the distance to the object 20 to the external device. This control unit can be simply mounted within the case of the LiDAR device 100.

Meanwhile, although not shown in the drawing, the LiDAR device 10 may be provided with wiring, an adapter, or a power supply means for supplying power. The power supply means may be provided with an internal power source or a rechargeable power supply, and may include a configuration that allows the LiDAR device 10 to be used in a detachable manner.

Even though all the components constituting the embodiments of the present invention described above are described as being combined or operated in combination, the present invention is not necessarily limited to these embodiments. That is, as long as it is within the scope of the purpose of the present invention, all of the components may be operated by selectively combining one or more of them. In addition, although all of the components may be implemented as a single independent hardware, a program module in which some or all of the components are selectively combined to perform some or all of the combined functions in one or more pieces of hardware. It may also be implemented as a computer program with . In addition, such a computer program can be stored in a computer readable media such as USB memory, CD disk, flash memory, etc. and read and executed by a computer, thereby implementing embodiments of the present invention. Recording media for computer programs may include magnetic recording media and optical recording media.

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications, changes, and substitutions can be made by those skilled in the art without departing from the essential characteristics of the present invention. will be. Accordingly, the embodiments disclosed in the present invention and the attached drawings are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments and the attached drawings. . The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

10: LIDAR device
20: object
100: light source
200: scanning unit
210: Transmission member
220: Optical axis adjustment unit
230: Absence of reception
240: reflection part
241: first mirror unit
242: Second mirror unit
250: driving unit
300: light detector
400: signal processing unit
500: optical window
700: Display unit
810: First angle sensor
820: Second angle sensor

Claims (13)

a light source emitting first light;
a light detector that detects a second light, which is light reflected by an object located on the scan area, among the first lights;
a scanning unit that receives the emitted first light and reflects it toward the scan area, receives second light reflected from the object, and transmits the second light toward the light detector; and
Calculate at least one error value generated in the scanning unit, control the scanning unit to drive to correct each resolution deviation in response to the calculated error value, and use the detection result of the optical detector to detect the object. It includes a signal processing unit that obtains distance information about the
The scanning unit includes a reflection unit configured to adjust a scan area in the horizontal or vertical direction by performing a tilt drive in the horizontal or vertical direction; and a driving unit connected to the reflecting unit to drive the reflecting unit, wherein the signal processing unit calculates the error value based on a driving range and driving cycle in which the reflecting unit performs tilt driving,
The reflection unit includes: a first mirror unit that adjusts a vertical field of view (FOV) of the scan area by performing a tilt drive in the vertical direction; And a second mirror unit that performs a tilt drive in the horizontal direction to adjust the horizontal field of view (FOV) of the scan area and performs a tilt drive in the vertical direction in response to the calculated error value. ,
The driving unit includes a first driving unit that tilts and drives the first mirror unit in a vertical direction by combining with a drive shaft of the first mirror unit and transmitting power so that the drive shaft rotates integrally with the first mirror unit; a second horizontal drive unit coupled to the horizontal drive shaft of the second mirror unit to tilt and drive the second mirror unit in the horizontal direction by transmitting power so that the horizontal drive shaft rotates integrally with the second mirror unit; and a second vertical drive unit coupled to the vertical drive shaft of the second mirror unit to tilt and drive the second mirror unit in the vertical direction by transmitting power so that the vertical drive shaft rotates integrally with the second mirror unit. ,
The first mirror unit repeatedly tilt-drives a predetermined first driving range at a predetermined first driving cycle,
The signal processing unit calculates a reference value that serves as a standard for correcting each resolution deviation of the scanning unit based on the predetermined first driving range and the first predetermined driving cycle, and drives the first mirror unit based on the calculated reference value. A LIDAR device characterized by calculating error values based on angles. delete delete delete delete According to paragraph 1,
The reference value calculated by the signal processing unit is,
It is a driving angle assuming that the first mirror unit repeatedly linearly drives the predetermined first driving range with the predetermined first driving cycle,
The signal processing unit is a lidar device characterized in that the error value is calculated by subtracting the reference value from the driving angle of the first mirror unit. According to clause 6,
The signal processing unit,
Based on the calculated error value, a second drive cycle and a second drive range for tilt-driving the second mirror unit in the vertical direction are calculated in response to the predetermined first drive cycle and the predetermined first drive range. A lidar device characterized in that. In clause 7,
The second vertical driving unit,
A lidar device characterized in that the second mirror unit is tilt-driven in the vertical direction in response to the calculated second drive cycle and the calculated second drive range. According to paragraph 1,
a first angle sensor that measures a driving angle of the first mirror unit and transmits the measured angle information to the signal processing unit; and
A LIDAR device comprising a second angle sensor that measures the driving angle of the second mirror unit and transmits the measured angle information to the signal processing unit. According to clause 9,
The signal processing unit,
Controls the output and pulse repetition rate of the light source, calculates the error value based on the transmitted angle information of the first mirror unit, and uses the transmitted angle information of the second mirror unit and the calculated error value to control the driver unit. A lidar device characterized in that it controls the driving angle of the second mirror unit through. According to paragraph 1,
The scanning unit,
a transmitting member that adjusts the first light incident from the light source to become parallel light;
It includes at least one hole and a reflective surface surrounding the hole, and adjusts the optical axes of the first light and the second light to be the same by passing the first light through the hole, and an optical axis adjustment unit that reflects the second light using a reflective surface; and
A LiDAR device comprising a receiving member that condenses the second light reflected from the reflective surface and makes it incident on the light detector. According to clause 11,
The photo detector is,
A LiDAR device characterized in that it consists of an InGaAs series PIN type, APD type, or SPAD type. In a method of operating a LiDAR device performed in a LiDAR device including a light source, a light detector, a scanning unit, a signal processing unit, and a driving unit,
the light source emitting first light;
The scanning unit receiving the emitted first light and reflecting it toward the scan area, receiving the second light reflected from the object, and transmitting the second light toward the light detector;
detecting, by the light detector, a second light, which is light reflected by the object located on the scan area, among the first light; and
The signal processing unit calculates at least one error value generated in the scanning unit, controls the scanning unit to drive to correct each resolution deviation in response to the calculated error value, and outputs a detection result of the photo detector. It includes; obtaining distance information about the object using,
The scanning unit includes a reflection unit configured to adjust a scan area in the horizontal or vertical direction by performing a tilt drive in the horizontal or vertical direction; and a driving unit connected to the reflecting unit to drive the reflecting unit, wherein the signal processing unit calculates the error value based on a driving range and driving cycle in which the reflecting unit performs tilt driving,
The reflection unit may include: a first mirror unit that adjusts a vertical field of view (FOV) of the scan area by performing a tilt drive in the vertical direction; And a second mirror unit that performs a tilt drive in the horizontal direction to adjust the horizontal field of view (FOV) of the scan area and performs a tilt drive in the vertical direction in response to the calculated error value. ,
The driving unit includes a first driving unit that tilts and drives the first mirror unit in a vertical direction by combining with a drive shaft of the first mirror unit and transmitting power so that the drive shaft rotates integrally with the first mirror unit; a second horizontal drive unit coupled to the horizontal drive shaft of the second mirror unit to tilt and drive the second mirror unit in the horizontal direction by transmitting power so that the horizontal drive shaft rotates integrally with the second mirror unit; and a second vertical drive unit coupled to the vertical drive shaft of the second mirror unit to tilt and drive the second mirror unit in the vertical direction by transmitting power so that the vertical drive shaft rotates integrally with the second mirror unit. ,
The first mirror unit repeatedly tilt-drives a predetermined first driving range at a predetermined first driving cycle,
The signal processing unit calculates a reference value that serves as a standard for correcting each resolution deviation of the scanning unit based on the predetermined first driving range and the predetermined first driving cycle, and drives the first mirror unit based on the calculated reference value. A method of operating a LIDAR device characterized by calculating an error value based on the angle.

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