WO2019209090A1 - Coherent fmcw lidar system - Google Patents

Coherent fmcw lidar system Download PDF

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Publication number
WO2019209090A1
WO2019209090A1 PCT/KR2019/005155 KR2019005155W WO2019209090A1 WO 2019209090 A1 WO2019209090 A1 WO 2019209090A1 KR 2019005155 W KR2019005155 W KR 2019005155W WO 2019209090 A1 WO2019209090 A1 WO 2019209090A1
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Prior art keywords
laser
fmcw
coherent
information signal
sea
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PCT/KR2019/005155
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French (fr)
Korean (ko)
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박현주
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주식회사 인포웍스
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Priority claimed from KR1020190008173A external-priority patent/KR20190125162A/en
Application filed by 주식회사 인포웍스 filed Critical 주식회사 인포웍스
Priority to US16/618,688 priority Critical patent/US20200088860A1/en
Publication of WO2019209090A1 publication Critical patent/WO2019209090A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems

Definitions

  • the present invention relates to a lidar system, and more specifically, a frequency modulated continuous wave (FMCW) laser is divided from a laser oscillator into a reference light and a search light for detecting an object in the sea, and then the reference light and the reflected search light
  • FMCW frequency modulated continuous wave
  • sea does not have roads defined as land and is heavily influenced by various variables such as weather, it is very difficult to operate on a scheduled route, and sailors are always on the road to prevent unexpected collisions with other ships and reefs.
  • sea fog which is a fog on the sea, so it is very difficult to grasp all the sea with the naked eye.
  • the laser oscillator divides the FMCW (Frequency Modulated Continuous Wave) laser into the search light for detecting the reference light and the object of the sea, and then oscillates the reference light and the reflected search light in a coherent manner.
  • the FMCW is a coherent method that uses the coherent method to detect marine objects that exist outside the visible range even in the event of dense fog such as sea fog. I would like to propose a system.
  • Coherent interference between the first FMCW laser serving as the reference light and the second FMCW laser transmitted and reflected in the sea generates amplified laser, and the amplified laser detects the marine object information signal. It is an object of the present invention to provide a FMCW lidar system using a coherent method that enables detection of an off-shore object even in a sea situation.
  • Coherent interference between the first frequency modulated continuous wave (FMCW) laser serving as reference light and the second FMCW laser transmitted and reflected at sea are generated to generate an amplified laser, and to detect the marine object information signal from the amplified laser.
  • Lidar sensor unit A controller configured to process the marine object information signal received from the lidar sensor unit into an image; And a housing part including the lidar sensor part and the control part.
  • the lidar sensor unit may include a laser oscillator configured to oscillate the first FMCW laser and the second FMCW laser; A laser amplifier for amplifying the second FMCW laser; A transmission / reception optical system for removing an afterimage caused by internal reflection of the amplified second FMCW laser; Scanning the second FMCW laser from which the afterimage has been removed and transmitting it to the sea; and if the transmitted second FMCW laser is reflected by the sea object, rescanning the reflected second FMCW laser having the sea object information signal.
  • a Scanner module for interfering the first FMCW laser and the rescanned second FMCW laser in a coherent manner to produce an amplified laser;
  • a detector module for detecting a marine object information signal from the laser amplified by the laser interferometer; And converting at least one or more of the marine object information signal, the scanner position information received from the scanner module, and the position / posture information received from the GPS / IMU into a form that can be checked by the controller, or received from the controller.
  • a logic module to transmit a control signal to at least one of the detector module, the scanner module, and the GPS / IMU.
  • the laser oscillator is characterized in that it has an optical PPL (Phase Locked Loop) structure.
  • optical PPL Phase Locked Loop
  • the transmission and reception optical system is characterized in that the uniaxial transmission and reception optical system.
  • the transmitting and receiving optical system is characterized in that to remove the afterimage of the second re-scanned FMCW laser to transmit to the laser interferometer.
  • the scanner module is characterized by having a galvanometer scan (Galvanometer Scan) structure.
  • the marine object information signal may include at least one of a position signal, a moving speed, a moving direction, and object shape information of the marine object.
  • the controller may include a sensor controller configured to control the sensor through a logic module; And an image processor for displaying the marine object information signal on the screen.
  • the housing portion is characterized in that it has an IP68 rating.
  • the FMCW lidar system using the coherent method according to the present invention can detect a marine object outside the visible range even in a situation where a heavy fog such as sea fog occurs on the sea, thereby preventing a collision with the marine object. It has the effect of providing the flight.
  • FIG. 1 is a view schematically showing an FMCW lidar system using a coherent method according to the present invention.
  • Shapes, sizes, ratios, angles, numbers, and the like for describing the embodiments of the present invention are exemplary and the present invention is not limited.
  • the detailed description of the related known technology may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.
  • time relationship for example, when the temporal after-term relationship is described as' after ',' following ',' after ',' before ', or the like,' right 'or' It may also include cases that are not continuous unless direct 'is used.
  • first, second, etc. are used to describe various components, these components are not limited by these terms. These terms are only used to distinguish one component from another. Therefore, the first component mentioned below may be a second component within the technical spirit of the present invention.
  • the 'X-axis direction', 'Y-axis direction' and 'Z-axis direction' should not be interpreted as a geometric relationship in which the relationship between each other is perpendicular to each other, and within the range in which the configuration of the present invention can function. It may mean having a wider directionality.
  • the term 'at least one' includes all possible combinations that can be presented from one or more related items.
  • the meaning of "at least one of the first item, the second item, and the third item" means not only the first item, the second item, or the third item, but also two of the first item, the second item, and the third item, respectively. It can mean a combination of all items that can be presented from more than one.
  • FIG. 1 is a view schematically showing an FMCW lidar system using a coherent method according to the present invention.
  • the FMCW lidar system using the coherent method according to the present invention may basically include a lidar sensor unit 100, a control unit 200, and a housing unit 10.
  • the space scan is not possible in a smoke environment such as fog, smog and sea fog, but the FMCW system has an effect of detecting a signal even when the visible distance is less than 1 meter.
  • the lidar sensor unit 100 interferes by a coherent method with a first frequency modulated continuous wave (FMCW) laser serving as reference light and a second FMCW laser that is transmitted and reflected in the sea and has a marine object information signal. 2 FMCW This configuration detects the marine object information signal from the laser.
  • the coherent method of the lidar sensor unit 100 has an effect of amplifying the weak marine object information signal of the second FMCW laser passing through the smoke, such as fog, mist, mist.
  • the controller 200 is configured to receive the marine object information signal detected by the lidar sensor unit 100 to process the image.
  • the controller 200 may be characterized in that the 4096 pts FFT is performed in 50us periods, and the frequency may be 0.1 to 50Mhz during FFT conversion.
  • the housing unit 10 is configured to include the lidar sensor unit 100 and the control unit 200.
  • the detailed configuration of the lidar sensor unit 100 is a laser oscillator 110, a laser amplifier 120, a transmission and reception optical system 130, a scanner module 140, a laser interferometer 150, a detector module 160 ) And logic module 170.
  • the laser oscillator 110 may be configured to oscillate the first FMCW laser and the second FMCW laser, and may have an optical phase locked loop (PLL) structure. There is an effect that can be linearized and stabilized.
  • the PLL is a circuit for oscillating a voltage controlled oscillator (VCO) at the same frequency as an input frequency.
  • VCO voltage controlled oscillator
  • the PLL can match an input signal with a reference frequency, an output signal and a frequency, and adjust a phase difference between the input signal and the output signal.
  • the detection and control of the VCO has the effect of transmitting a fixed frequency signal accurately.
  • the laser amplifier 120 is configured to receive and amplify the second FMCW laser, and amplify the second FMCW laser so that the second FMCW laser can be reflected on a sea object after passing through smoke such as haze and sea mist.
  • the transmitting and receiving optical system 130 is configured to receive an amplified second FMCW laser output from the laser amplifier 120 and to remove an afterimage caused by internal reflection, and to clear a clear object from the amplified FMCW laser by removing the afterimage. There is an effect that the information signal can be detected.
  • the scanner module 140 scans the second FMCW laser from which the afterimage is removed by the transmitting and receiving optical system 130, and sends the image to the sea.
  • the transmitted second FMCW laser is reflected by the sea object, the corresponding marine object
  • the marine object information signal of the reflected marine object can be collected.
  • the laser interferometer 150 is configured to generate an amplified laser by interfering the first FMCW laser and the second FMCW laser rescanned from the scanner module in a coherent manner, the fog, haze, There is an effect of amplifying the weak marine object information signal of the second FMCW laser passing through the smoke such as seaweed.
  • the laser interferometer 150 may use a polarization control interferometer technology to improve the interference efficiency of the weak marine object information signal, a technique for suppressing the generation of an afterimage by the optical discontinuous surface or non-uniform surface.
  • the detector module 160 is configured to detect the marine object information signal from the second FMCW laser amplified by the laser interferometer 150, the detected marine object information signal to the controller 200 through the logic module 170. It serves to convey.
  • the logic module 170 is configured to transmit at least one or more of the position / posture information received from the GPS / IMU 300 and the marine object information signal received from the detector module to the controller 200. Provides the position information and the marine object information signal converted into a form that can be confirmed by the control unit 200, or the control signal received from the control unit 200, the detector module 160, the scanner module 140 and the GPS / IMU (300) ) Transmits to at least one of the above.
  • the transmission and reception optical system 130 may be characterized by being a uniaxial transmission and reception optical system, such a uniaxial transmission and reception optical system has the effect of easy simultaneous measurement of short distance and long distance.
  • the transmitting and receiving optical system 130 is configured to remove the afterimage of the second re-scanned FMCW laser to transmit to the laser interferometer 150. Accordingly, the laser interferometer 150 is effective in detecting a more accurate marine object information signal from the laser from which the afterimage is removed.
  • the scanner module 140 may have a galvanometer scan structure.
  • the scanner module 140 having the galvanometer scan structure has a high speed Raster scan pattern and a random scan.
  • the marine object information signal may include at least one of a position signal, a moving speed, a moving direction, and object shape information of the marine object.
  • controller 200 may include a sensor controller 210 for controlling the lidar sensor 100 through a logic module and an image processor 220 displaying a marine object information signal on a screen.
  • the sensor unit controller 210 includes a laser oscillator 110, a laser amplifier 120, a transmission / reception optical system 130, and a scanner module 140 constituting the lidar sensor unit 100 through the logic module 170. ),
  • the laser interferometer 150 and the detector module 160 is characterized in that the operation can be controlled by sending a control signal to at least one.
  • the image processor 220 may receive at least one or more of position / posture information and marine object information signals from the controller 200 and image them on at least one displayer.
  • the housing unit 10 may be characterized by having an IP68 rating.
  • the IP stands for Ingress Protection
  • the IP68 stands for a complete dustproof structure and a waterproof structure that can be used in water.
  • the housing unit 10 may be provided with a signal transmission unit for transmitting a signal generated from the lidar sensor unit 100 and the control unit 200, in this case, the signal transmission unit may be made of a cable, connector, etc. There will be.
  • the housing part 10 is made of an IP68 rating, the lidar sensor part 100, the control part 200, and the signal transmission part may be safely protected from water or dust.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The present invention relates to a coherent frequency modulated continuous wave (FMCW) lidar system, more specifically to a coherent FMCW lidar system comprising: a lidar sensor unit (100) for generating amplified laser by coherently interfering a first FMCW laser which becomes the reference light, and a second FMCW laser which is transmitted over the sea and reflected, and detecting an information signal of an object on the sea from the amplified laser; a control unit (200) for processing the information signal of an object on the sea, received from the lidar sensor unit (100), into an image; and a housing unit (10) housing the lidar sensor unit (100) and control unit (200).

Description

코히런트 방식을 이용한 FMCW 라이다 시스템Coherent FMCW Lidar System
본 발명은 라이다 시스템에 관한 것으로서, 보다 구체적으로는 레이저 발진기로부터 FMCW(Frequency Modulated Continuous Wave) 레이저를 기준광과 해상의 물체를 탐지하는 탐색광으로 분할하여 발진시킨 후 기준광과 반사된 탐색광을 코히런트 방식으로 간섭시켜 증폭된 레이저를 생성하고, 증폭된 레이저로부터 검출된 해상물체정보신호를 영상으로 처리함으로써 해무와 같은 짙은 안개가 해상에 발생한 상황에서도 가시거리 밖에 존재하는 해상물체의 탐지를 가능하게 하는 코히런트 방식을 이용한 FMCW 라이다 시스템에 관한 것이다.The present invention relates to a lidar system, and more specifically, a frequency modulated continuous wave (FMCW) laser is divided from a laser oscillator into a reference light and a search light for detecting an object in the sea, and then the reference light and the reflected search light By generating amplified laser by interfering with the runt method and processing the marine object information signal detected by the amplified laser into an image, it is possible to detect a marine object that exists outside the visible distance even in the event of a heavy fog such as sea fog. The FMCW lidar system using a coherent method.
최근 GPS 및 각종 센서의 발전으로 인해 차량이 최단 거리를 가진 경로로 자율 주행하는 것은 어렵지 않은 기술이라 할 수 있으나, 선박의 운항에 있어서는 그렇지 않다고 할 수 있다.Recently, due to the development of GPS and various sensors, autonomous driving of a vehicle with a path having the shortest distance can be referred to as a technology that is not difficult.
특히, 선박은 자동차나 오토바이 등 기타 육상에서 운행되는 차량과는 다르게, 선박은 수중에서 운항되는 특성상 관성력이 매우 크므로 즉각적으로 속도나 방향을 조절하는 것이 매우 어렵기 때문이다.In particular, unlike ships and other vehicles that operate on land, such as automobiles and motorcycles, ships are very difficult to adjust the speed or direction immediately because the inertial force is very large due to the nature of the operation in the water.
게다가, 바다는 육지처럼 정해진 도로가 없고 날씨 등 여러 변수의 영향을 크게 받기 때문에 예정된 경로로 운항하는 것은 매우 어려운 것이 현실이며, 예상하지 못한 다른 선박, 암초 등과의 충돌을 예방하기 위해 선원들이 항상 전방을 주시해야 하지만, 바다의 특성 상 해상에 끼는 안개인 해무에 의해 가시거리가 매우 짧아지는 경우가 많아 육안으로 해상을 모두 파악한다는 것은 매우 어려운 것이 현실이다.In addition, since the sea does not have roads defined as land and is heavily influenced by various variables such as weather, it is very difficult to operate on a scheduled route, and sailors are always on the road to prevent unexpected collisions with other ships and reefs. However, due to the nature of the ocean, the visibility is often very short due to sea fog, which is a fog on the sea, so it is very difficult to grasp all the sea with the naked eye.
따라서, 본 발명에서는 레이저 발진기로부터 FMCW(Frequency Modulated Continuous Wave) 레이저를 기준광과 해상의 물체를 탐지하는 탐색광으로 분할하여 발진시킨 후 기준광과 반사된 탐색광을 코히런트 방식으로 간섭시켜 증폭된 레이저를 생성하고, 증폭된 레이저로부터 검출된 해상물체정보신호를 영상으로 처리함으로써 해무와 같은 짙은 안개가 해상에 발생한 상황에서도 가시거리 밖에 존재하는 해상물체의 탐지를 가능하게 하는 코히런트 방식을 이용한 FMCW 라이다 시스템을 제안하고자 한다.Therefore, in the present invention, the laser oscillator divides the FMCW (Frequency Modulated Continuous Wave) laser into the search light for detecting the reference light and the object of the sea, and then oscillates the reference light and the reflected search light in a coherent manner. The FMCW is a coherent method that uses the coherent method to detect marine objects that exist outside the visible range even in the event of dense fog such as sea fog. I would like to propose a system.
이에 본 발명은 상기한 종래 기술의 문제점을 해결하기 위해 안출된 것으로서,Accordingly, the present invention has been made to solve the problems of the prior art,
기준광이 되는 제1 FMCW 레이저와 해상으로 송출되어 반사되는 제2 FMCW 레이저를 코히런트 방식으로 간섭시켜 증폭된 레이저를 생성하고, 증폭된 레이저 검출된 해상물체정보신호를 생성함으로써 해무와 같은 짙은 안개가 해상에 발생한 상황에서도 가시거리 밖의 해상 물체의 탐지를 가능하게 하는 코히런트 방식을 이용한 FMCW 라이다 시스템을 제공하는 것을 목적으로 한다.Coherent interference between the first FMCW laser serving as the reference light and the second FMCW laser transmitted and reflected in the sea generates amplified laser, and the amplified laser detects the marine object information signal. It is an object of the present invention to provide a FMCW lidar system using a coherent method that enables detection of an off-shore object even in a sea situation.
상기 목적을 달성하기 위하여, 본 발명은, In order to achieve the above object, the present invention,
기준광이 되는 제1 FMCW(Frequency Modulated Continuous Wave) 레이저 및 해상으로 송출되어 반사되는 제2 FMCW 레이저를 코히런트 방식으로 간섭시켜 증폭된 레이저를 생성하고, 상기 증폭된 레이저로부터 해상물체정보신호를 검출하는 라이다 센서부; 상기 라이다 센서부로부터 수신된 해상물체정보신호를 영상으로 처리하는 제어부; 및 상기 라이다 센서부 및 제어부가 구비되는 하우징부;를 포함하는 것을 특징으로 한다.Coherent interference between the first frequency modulated continuous wave (FMCW) laser serving as reference light and the second FMCW laser transmitted and reflected at sea are generated to generate an amplified laser, and to detect the marine object information signal from the amplified laser. Lidar sensor unit; A controller configured to process the marine object information signal received from the lidar sensor unit into an image; And a housing part including the lidar sensor part and the control part.
또한, 상기 라이다 센서부는, 상기 제1 FMCW 레이저 및 제2 FMCW 레이저를 발진시키는 레이저 발진기; 상기 제2 FMCW 레이저를 증폭시키는 레이저 증폭기; 상기 증폭된 제2 FMCW 레이저의 내부반사에 의한 잔상을 제거하는 송수광 광학계; 상기 잔상이 제거된 제2 FMCW 레이저를 스캔하고 상기 해상으로 송출하며, 송출된 제2 FMCW 레이저가 해상물체에 의해 반사되는 경우, 해상물체정보신호를 가지고 있는 반사된 제2 FMCW 레이저를 재 스캔하는 스캐너 모듈; 상기 제1 FMCW 레이저 및 상기 재 스캔된 제2 FMCW 레이저를 코히런트 방식으로 간섭시켜 증폭된 레이저를 생성하는 레이저 간섭계; 상기 레이저 간섭계를 통해 증폭된 레이저로부터 해상물체정보신호를 검출하는 검출기 모듈; 및 상기 해상물체정보신호, 상기 스캐너 모듈로부터 수신된 스캐너 위치 정보 및 GPS/IMU로부터 수신된 위치/자세 정보 중 적어도 어느 하나 이상을 상기 제어부에서 확인 가능한 형태로 변환하여 제공하거나, 상기 제어부로부터 수신한 제어신호를 상기 검출기 모듈, 스캐너 모듈 및 GPS/IMU 중 적어도 어느 하나 이상에 전송하는 로직 모듈;을 포함하는 것을 특징으로 한다.The lidar sensor unit may include a laser oscillator configured to oscillate the first FMCW laser and the second FMCW laser; A laser amplifier for amplifying the second FMCW laser; A transmission / reception optical system for removing an afterimage caused by internal reflection of the amplified second FMCW laser; Scanning the second FMCW laser from which the afterimage has been removed and transmitting it to the sea; and if the transmitted second FMCW laser is reflected by the sea object, rescanning the reflected second FMCW laser having the sea object information signal. Scanner module; A laser interferometer for interfering the first FMCW laser and the rescanned second FMCW laser in a coherent manner to produce an amplified laser; A detector module for detecting a marine object information signal from the laser amplified by the laser interferometer; And converting at least one or more of the marine object information signal, the scanner position information received from the scanner module, and the position / posture information received from the GPS / IMU into a form that can be checked by the controller, or received from the controller. And a logic module to transmit a control signal to at least one of the detector module, the scanner module, and the GPS / IMU.
또한, 상기 레이저 발진기는 광학적 PPL(Phase Locked Loop) 구조를 갖는 것을 특징으로 한다.In addition, the laser oscillator is characterized in that it has an optical PPL (Phase Locked Loop) structure.
또한, 상기 송수광 광학계는 일축형 송수광 광학계인 것을 특징으로 한다.In addition, the transmission and reception optical system is characterized in that the uniaxial transmission and reception optical system.
또한, 상기 송수광 광학계는 상기 재 스캔된 제2 FMCW 레이저의 잔상을 제거하여 상기 레이저 간섭계로 전송하는 것을 특징으로 한다.In addition, the transmitting and receiving optical system is characterized in that to remove the afterimage of the second re-scanned FMCW laser to transmit to the laser interferometer.
또한, 상기 스캐너 모듈은 갈바노미터 스캔(Galvanometer Scan) 구조를 갖는 것을 특징으로 한다.In addition, the scanner module is characterized by having a galvanometer scan (Galvanometer Scan) structure.
또한, 상기 해상물체정보신호는 해상물체의 위치 신호, 이동 속도, 이동 방향 및 물체 형상 정보 중 적어도 어느 하나 이상을 포함하는 것을 특징으로 한다.The marine object information signal may include at least one of a position signal, a moving speed, a moving direction, and object shape information of the marine object.
또한, 상기 제어부는 로직 모듈을 통해 상기 센서부를 제어하는 센서부 제어기; 및 상기 해상물체정보신호를 화면에 나타내는 영상처리부;를 포함하는 것을 특징으로 한다.The controller may include a sensor controller configured to control the sensor through a logic module; And an image processor for displaying the marine object information signal on the screen.
또한, 상기 하우징부는 IP68 등급을 갖는 것을 특징으로 한다. In addition, the housing portion is characterized in that it has an IP68 rating.
이상과 같은 본 발명에 따른 코히런트 방식을 이용한 FMCW 라이다 시스템은, 해무와 같은 짙은 안개가 해상에 발생한 상황에서도 가시거리 밖의 해상 물체 탐지가 가능함에 따라, 해상 물체와의 충돌을 방지하는 보다 안전한 운항을 제공할 수 있도록 하는 효과가 있다.As described above, the FMCW lidar system using the coherent method according to the present invention can detect a marine object outside the visible range even in a situation where a heavy fog such as sea fog occurs on the sea, thereby preventing a collision with the marine object. It has the effect of providing the flight.
도 1은 본 발명에 따른 코히런트 방식을 이용한 FMCW 라이다 시스템을 개략적으로 도시한 도면이다.1 is a view schematically showing an FMCW lidar system using a coherent method according to the present invention.
본 발명의 이점 및 특징, 그리고 그것들을 달성하는 방법은 상세하게 후술 되어 있는 실시 예들을 참조하면 명확해질 것이다. 그러나 본 발명은 이하에서 개시되는 실시 예들에 한정되는 것이 아니라 서로 다른 다양한 형태로 구현될 것이며, 단지 본 실시 예들은 본 발명의 개시가 완전하도록 하며, 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 발명의 범주를 완전하게 알려주기 위해 제공되는 것이며, 본 발명은 청구항의 범주에 의해 정의될 뿐이다.Advantages and features of the present invention and methods of achieving them will be apparent with reference to the embodiments described below in detail. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, only the embodiments are to make the disclosure of the present invention complete, and those skilled in the art to which the present invention pertains. It is provided to fully inform the scope of the invention, and the invention is defined only by the scope of the claims.
본 발명의 실시 예를 설명하기 위한 형상, 크기, 비율, 각도, 개수 등은 예시적인 것이므로 본 발명이 한정되는 것은 아니다. 또한, 본 발명을 설명함에 있어서, 관련된 공지 기술에 대한 구체적인 설명이 본 발명의 요지를 불필요하게 흐릴 수 있다고 판단되는 경우 그 상세한 설명은 생략한다.Shapes, sizes, ratios, angles, numbers, and the like for describing the embodiments of the present invention are exemplary and the present invention is not limited. In addition, in describing the present invention, if it is determined that the detailed description of the related known technology may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.
본 명세서에서 언급된 '포함한다', '갖는다', '이루어진다' 등이 사용되는 경우 '~만'이 사용되지 않는 이상 다른 부분이 추가될 수 있다. 구성 요소를 단수로 표현한 경우에 특별히 명시적인 기재 사항이 없는 한 복수를 포함하는 경우를 포함한다.In the case where 'comprises', 'haves', 'consists of' and the like mentioned in the present specification are used, other parts may be added unless 'only' is used. In the case where the component is expressed in the singular, the plural includes the plural unless specifically stated otherwise.
구성 요소를 해석함에 있어서, 별도의 명시적 기재가 없더라도 오차 범위를 포함하는 것으로 해석한다.In interpreting a component, it is interpreted to include an error range even if there is no separate description.
또한, 위치 관계에 대한 설명일 경우, 예를 들어, '~상에', '~상부에', '~하부에', '~옆에' 등으로 두 부분의 위치 관계가 설명되는 경우, '바로' 또는 '직접'이 사용되지 않는 이상 두 부분 사이에 하나 이상의 다른 부분이 위치할 수도 있다.In addition, in the case of the description of the positional relationship, for example, when the positional relationship between the two parts is described as 'on', 'upper', 'upper', 'next to' and the like, One or more other parts may be located between the two parts unless a 'direct' or 'direct' is used.
그리고, 시간 관계에 대한 설명일 경우, 예를 들어, '~후에', '~에 이어서', '~다음에', '~전에' 등으로 시간적 선후 관계가 설명되는 경우, '바로' 또는 '직접'이 사용되지 않는 이상 연속적이지 않은 경우도 포함할 수 있다.And, in the case of the description of the time relationship, for example, when the temporal after-term relationship is described as' after ',' following ',' after ',' before ', or the like,' right 'or' It may also include cases that are not continuous unless direct 'is used.
또한, 제1, 제2 등이 다양한 구성요소들을 서술하기 위해서 사용되나, 이들 구성요소들은 이들 용어에 의해 제한되지 않는다. 이들 용어들은 단지 하나의 구성요소를 다른 구성요소와 구별하기 위하여 사용하는 것이다. 따라서, 이하에서 언급되는 제1 구성요소는 본 발명의 기술적 사상 내에서 제2 구성요소일 수도 있다.In addition, although the first, second, etc. are used to describe various components, these components are not limited by these terms. These terms are only used to distinguish one component from another. Therefore, the first component mentioned below may be a second component within the technical spirit of the present invention.
그리고, 'X축 방향', 'Y축 방향' 및 'Z축 방향'은 서로 간의 관계가 수직으로 이루어진 기하학적인 관계만으로 해석되어서는 아니 되며, 본 발명의 구성이 기능적으로 작용할 수 있는 범위 내에서 보다 넓은 방향성을 가지는 것을 의미할 수 있다.In addition, the 'X-axis direction', 'Y-axis direction' and 'Z-axis direction' should not be interpreted as a geometric relationship in which the relationship between each other is perpendicular to each other, and within the range in which the configuration of the present invention can function. It may mean having a wider directionality.
또한, '적어도 하나'의 용어는 하나 이상의 관련 항목으로부터 제시 가능한 모든 조합을 포함하는 것으로 이해되어야 한다. 예를 들어, '제 1 항목, 제 2 항목 및 제 3 항목 중에서 적어도 하나'의 의미는 제 1 항목, 제 2 항목 또는 제 3 항목 각각 뿐만 아니라 제 1 항목, 제 2 항목 및 제 3 항목 중에서 2개 이상으로부터 제시될 수 있는 모든 항목의 조합을 의미할 수 있다.Also, it is to be understood that the term 'at least one' includes all possible combinations that can be presented from one or more related items. For example, the meaning of "at least one of the first item, the second item, and the third item" means not only the first item, the second item, or the third item, but also two of the first item, the second item, and the third item, respectively. It can mean a combination of all items that can be presented from more than one.
본 발명의 여러 실시 예들의 각각 특징들이 부분적으로 또는 전체적으로 서로 결합 또는 조합 가능하고, 기술적으로 다양한 연동 및 구동이 가능하며, 각 실시 예들이 서로에 대하여 독립적으로 실시 가능할 수도 있고 연관 관계로 함께 실시할 수도 있다.The features of the various embodiments of the present invention may be combined or combined with each other, partly or wholly, and various interlocking and driving technologies are possible, and the embodiments may be independently implemented with respect to each other or may be implemented together in a related relationship. It may be.
이하, 도면을 참조로 하여 본 발명에 따른 코히런트 방식을 이용한 FMCW 라이다 시스템을 설명하기로 한다.Hereinafter, an FMCW lidar system using a coherent method according to the present invention will be described with reference to the drawings.
도 1은 본 발명에 따른 코히런트 방식을 이용한 FMCW 라이다 시스템을 개략적으로 도시한 도면이다.1 is a view schematically showing an FMCW lidar system using a coherent method according to the present invention.
본 발명에 따른 코히런트 방식을 이용한 FMCW 라이다 시스템은 기본적으로 라이다 센서부(100), 제어부(200) 및 하우징부(10)를 포함하여 구성될 수 있다.The FMCW lidar system using the coherent method according to the present invention may basically include a lidar sensor unit 100, a control unit 200, and a housing unit 10.
기존의 상용화된 라이다 시스템의 경우 안개, 스모그(smog) 및 해무 등과 같은 연기가 있는 환경에서는 공간 스캔이 불가능하였지만, 상기 FMCW 시스템은 가시거리 1미터 미만에서도 신호검출이 가능한 효과가 있다. In the conventional commercialized Lidar system, the space scan is not possible in a smoke environment such as fog, smog and sea fog, but the FMCW system has an effect of detecting a signal even when the visible distance is less than 1 meter.
상기 라이다 센서부(100)는 기준광이 되는 제1 FMCW(Frequency Modulated Continuous Wave) 레이저 및 해상으로 송출되어 반사되며 해상물체정보신호를 가지고 있는 제2 FMCW 레이저를 코히런트 방식에 의해 간섭시킨 다음 제2 FMCW 레이저로부터 해상물체정보신호를 검출하는 구성이다. 상기 라이다 센서부(100)의 코히런트 방식은 안개, 연무, 해무 등의 연기를 통과한 제 2 FMCW 레이저의 미약한 해상물체정보신호를 증폭시키는 효과가 있다.The lidar sensor unit 100 interferes by a coherent method with a first frequency modulated continuous wave (FMCW) laser serving as reference light and a second FMCW laser that is transmitted and reflected in the sea and has a marine object information signal. 2 FMCW This configuration detects the marine object information signal from the laser. The coherent method of the lidar sensor unit 100 has an effect of amplifying the weak marine object information signal of the second FMCW laser passing through the smoke, such as fog, mist, mist.
상기 제어부(200)는 상기 라이다 센서부(100)로부터 검출된 해상물체정보신호를 수신하여 영상으로 처리하는 구성이다. 이때, 상기 제어부(200)는 4096 pts FFT를 50us 주기로 실행하는 것이 특징일 수 있으며, FFT 변환시 주파수는 0.1 내지 50Mhz 일 수 있다.The controller 200 is configured to receive the marine object information signal detected by the lidar sensor unit 100 to process the image. In this case, the controller 200 may be characterized in that the 4096 pts FFT is performed in 50us periods, and the frequency may be 0.1 to 50Mhz during FFT conversion.
상기 하우징부(10)는 상기 라이다 센서부(100) 및 제어부(200)가 구비되는 구성이다.The housing unit 10 is configured to include the lidar sensor unit 100 and the control unit 200.
여기서, 상기 라이다 센서부(100)의 세부적인 구성은 레이저 발진기(110), 레이저 증폭기(120), 송수광 광학계(130), 스캐너 모듈(140), 레이저 간섭계(150), 검출기 모듈(160) 및 로직 모듈(170)을 포함하여 구성될 수 있다.Here, the detailed configuration of the lidar sensor unit 100 is a laser oscillator 110, a laser amplifier 120, a transmission and reception optical system 130, a scanner module 140, a laser interferometer 150, a detector module 160 ) And logic module 170.
상기 레이저 발진기(110)는 상기 제1 FMCW 레이저 및 제2 FMCW 레이저를 발진시키는 구성으로, 광학적 PLL(Phase Locked Loop: 위상고정루프) 구조를 갖는 것이 특징일 수 있으며, 광학적 PLL 구조에 의하여 주파수의 선형화 및 안정화가 가능한 효과가 있다. 상기 PLL은 입력된 주파수와 같은 주파수로 VCO(Voltage Controlled Oscillator:전압제어 발진기)를 발진하는 회로로서, 입력신호와 기준주파수, 출력신호와 주파수를 일치시킬 수 있으며, 입력신호와 출력신호의 위상차를 검출하고 상기 VCO를 제어하여 정확하게 고정된 주파수 신호를 발신할 수 있는 효과가 있다. The laser oscillator 110 may be configured to oscillate the first FMCW laser and the second FMCW laser, and may have an optical phase locked loop (PLL) structure. There is an effect that can be linearized and stabilized. The PLL is a circuit for oscillating a voltage controlled oscillator (VCO) at the same frequency as an input frequency. The PLL can match an input signal with a reference frequency, an output signal and a frequency, and adjust a phase difference between the input signal and the output signal. The detection and control of the VCO has the effect of transmitting a fixed frequency signal accurately.
상기 레이저 증폭기(120)는 상기 제2 FMCW 레이저를 입력받아 증폭시키는 구성으로, 상기 제2 FMCW 레이저가 연무, 해무 등의 연기를 통과한 뒤 해상물체에 반사될 수 있도록 증폭시키는 것을 특징으로 한다.The laser amplifier 120 is configured to receive and amplify the second FMCW laser, and amplify the second FMCW laser so that the second FMCW laser can be reflected on a sea object after passing through smoke such as haze and sea mist.
상기 송수광 광학계(130)는 상기 레이저 증폭기(120)에서 출력되는 증폭된 제2 FMCW 레이저를 입력받아 내부반사에 의한 잔상을 제거하는 구성으로, 잔상 제거에 의해 증폭된 제 FMCW레이저로부터 선명한 해상물체정보신호를 검출할 수 있는 효과가 있다.The transmitting and receiving optical system 130 is configured to receive an amplified second FMCW laser output from the laser amplifier 120 and to remove an afterimage caused by internal reflection, and to clear a clear object from the amplified FMCW laser by removing the afterimage. There is an effect that the information signal can be detected.
상기 스캐너 모듈(140)은 상기 송수광 광학계(130)에 의해 잔상이 제거된 제2 FMCW 레이저를 스캔하여 해상으로 송출하며, 송출된 제2 FMCW 레이저가 해상물체에 의해 반사되는 경우, 해당 해상물체의 정보가 저장된 해상물체정보신호를 포함하는 반사된 제2 FMCW 레이저를 재 스캔한 뒤 송수광 광학계로 전송하는 함으로써, 반사된 해상물체의 해상물체정보신호를 수집할 수 있는 효과가 있다.The scanner module 140 scans the second FMCW laser from which the afterimage is removed by the transmitting and receiving optical system 130, and sends the image to the sea. When the transmitted second FMCW laser is reflected by the sea object, the corresponding marine object By rescanning the reflected second FMCW laser including the marine object information signal in which the information is stored and transmitting the same to the transmission and reception optical system, the marine object information signal of the reflected marine object can be collected.
상기 레이저 간섭계(150)는 상기 제1 FMCW 레이저 및 상기 스캐너 모듈에서 재 스캔된 제2 FMCW 레이저를 코히런트 방식으로 간섭시켜 증폭된 레이저를 생성하는 구성으로, 상기 코히런트 방식으로 인하여 안개, 연무, 해무 등의 연기를 통과한 제 2 FMCW 레이저의 미약한 해상물체정보신호를 증폭시키는 효과가 있다. 이때, 상기 레이저 간섭계(150)는 미약한 해상물체정보 신호의 간섭효율 향상을 위해 편광제어 간섭계 기술을 이용할 수 있으며, 광학적 불연속면 또는 불균일면에 의한 잔상 발생을 억제하기 위한 기술이 이용될 수 있다.The laser interferometer 150 is configured to generate an amplified laser by interfering the first FMCW laser and the second FMCW laser rescanned from the scanner module in a coherent manner, the fog, haze, There is an effect of amplifying the weak marine object information signal of the second FMCW laser passing through the smoke such as seaweed. In this case, the laser interferometer 150 may use a polarization control interferometer technology to improve the interference efficiency of the weak marine object information signal, a technique for suppressing the generation of an afterimage by the optical discontinuous surface or non-uniform surface.
상기 검출기 모듈(160)은 레이저 간섭계(150)에 의해 증폭된 제2 FMCW 레이저로부터 해상물체정보신호를 검출하는 구성으로, 검출된 해상물체정보신호를 로직 모듈(170)을 통해 제어부(200)로 전달하는 역할을 수행한다.The detector module 160 is configured to detect the marine object information signal from the second FMCW laser amplified by the laser interferometer 150, the detected marine object information signal to the controller 200 through the logic module 170. It serves to convey.
상기 로직 모듈(170)은 GPS/IMU(300)로부터 수신된 위치/자세 정보 및 검출기 모듈에서 수신된 해상물체정보신호 중 적어도 어느 하나 이상을 제어부(200)에 전송하는 구성으로, 상기 수신된 위치/자세 정보 및 해상물체정보신호를 제어부(200)에서 확인 가능한 형태로 변환하여 제공하거나, 제어부(200)로부터 수신한 제어신호를 검출기 모듈(160), 스캐너 모듈(140) 및 GPS/IMU(300) 중 적어도 어느 하나 이상에 전송하는 하는 역할을 수행한다. The logic module 170 is configured to transmit at least one or more of the position / posture information received from the GPS / IMU 300 and the marine object information signal received from the detector module to the controller 200. Provides the position information and the marine object information signal converted into a form that can be confirmed by the control unit 200, or the control signal received from the control unit 200, the detector module 160, the scanner module 140 and the GPS / IMU (300) ) Transmits to at least one of the above.
또한, 상기 송수광 광학계(130)는 일축형 송수광 광학계인 것이 특징일 수 있으며, 이러한 일축형 송수광 광학계는 근거리와 원거리의 동시 측정이 용이한 효과가 있다.In addition, the transmission and reception optical system 130 may be characterized by being a uniaxial transmission and reception optical system, such a uniaxial transmission and reception optical system has the effect of easy simultaneous measurement of short distance and long distance.
또한, 상기 송수광 광학계(130)는 재 스캔된 제2 FMCW 레이저의 잔상을 제거하여 레이저 간섭계(150)로 전송하는 구성이다. 이에 따라, 레이저 간섭계(150)는 잔상이 제거된 레이저로부터 보다 정확한 해상물체정보신호를 검출할 수는 효과가 있다. In addition, the transmitting and receiving optical system 130 is configured to remove the afterimage of the second re-scanned FMCW laser to transmit to the laser interferometer 150. Accordingly, the laser interferometer 150 is effective in detecting a more accurate marine object information signal from the laser from which the afterimage is removed.
또한, 상기 스캐너 모듈(140)은 갈바노미터 스캔(Galvanometer Scan) 구조를 갖는 것이 특징일 수 있다. 이러한 상기 갈바노미터 스캔 구조를 갖는 스캐너 모듈(140)은 고속 Raster 스캔패턴 및 Random 스캔이 가능한 효과가 있다.In addition, the scanner module 140 may have a galvanometer scan structure. The scanner module 140 having the galvanometer scan structure has a high speed Raster scan pattern and a random scan.
또한, 상기 해상물체정보신호는 해상물체의 위치 신호, 이동 속도, 이동 방향 및 물체 형상 정보 중 적어도 어느 하나 이상을 포함하여 구성될 수 있다.The marine object information signal may include at least one of a position signal, a moving speed, a moving direction, and object shape information of the marine object.
또한, 상기 제어부(200)는 로직 모듈을 통해 라이다 센서부(100)를 제어하는 센서부 제어기(210) 및 해상물체정보신호를 화면에 나타내는 영상 처리부(220)를 포함하여 구성될 수 있다.In addition, the controller 200 may include a sensor controller 210 for controlling the lidar sensor 100 through a logic module and an image processor 220 displaying a marine object information signal on a screen.
또한, 상기 센서부 제어기(210)는 로직 모듈(170)을 통해 라이다 센서부(100)를 구성하는 레이저 발진기(110), 레이저 증폭기(120), 송수광 광학계(130), 스캐너 모듈(140), 레이저 간섭계(150) 및 검출기 모듈(160) 중 적어도 어느 하나 이상에 제어신호를 보내어 동작을 제어할 수 있는 것을 특징으로 한다.In addition, the sensor unit controller 210 includes a laser oscillator 110, a laser amplifier 120, a transmission / reception optical system 130, and a scanner module 140 constituting the lidar sensor unit 100 through the logic module 170. ), The laser interferometer 150 and the detector module 160 is characterized in that the operation can be controlled by sending a control signal to at least one.
또한, 상기 영상 처리부(220)는 제어부(200)로부터 위치/자세 정보 및 해상물체정보신호 중 적어도 어느 하나 이상을 수신하여 적어도 하나 이상의 디스플레이어 상에 영상화시키는 것을 특징으로 한다.In addition, the image processor 220 may receive at least one or more of position / posture information and marine object information signals from the controller 200 and image them on at least one displayer.
또한, 상기 하우징부(10)는 IP68 등급을 갖는 것이 특징일 수 있다. 여기서, 상기 IP는 방수방진 등급(Ingress Protection)을 의미하며, IP68 등급은 완전한 방진구조 및 물속에서 사용 가능한 방수구조를 갖춘 등급을 의미한다. 상기 하우징부(10)에는 상기 라이다 센서부(100) 및 상기 제어부(200)에서 발생되는 신호를 전달하는 신호 전달부가 구비될 수 있으며, 이때, 상기 신호 전달부는 케이블, 커넥터 등으로 이루어 질 수 있을 것이다. 게다가, 상기 하우징부(10)는 IP68 등급으로 이루어지므로 상기 라이다 센서부(100), 제어부(200) 및 신호 전달부를 물 또는 먼지로부터 안전하게 보호할 수 있는 효과가 있다.In addition, the housing unit 10 may be characterized by having an IP68 rating. In this case, the IP stands for Ingress Protection, and the IP68 stands for a complete dustproof structure and a waterproof structure that can be used in water. The housing unit 10 may be provided with a signal transmission unit for transmitting a signal generated from the lidar sensor unit 100 and the control unit 200, in this case, the signal transmission unit may be made of a cable, connector, etc. There will be. In addition, since the housing part 10 is made of an IP68 rating, the lidar sensor part 100, the control part 200, and the signal transmission part may be safely protected from water or dust.
이상 본 발명의 실시 예들을 더욱 상세하게 설명하였으나, 본 발명은 반드시 이러한 실시 예로 국한되는 것은 아니고, 본 발명의 기술사상을 벗어나지 않는 범위 내에서 다양하게 변형 실시될 수 있다.While the embodiments of the present invention have been described in more detail, the present invention is not necessarily limited to these embodiments, and various modifications can be made without departing from the spirit of the present invention.
따라서, 본 발명에 개시된 실시예들은 본 발명의 기술 사상을 한정하기 위한 것이 아니라 설명하기 위한 것이고, 이러한 실시 예에 의하여 본 발명의 기술 사상의 범위가 한정되는 것은 아니다.Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments.
그러므로, 이상에서 기술한 실시 예들은 모든 면에서 예시적인 것이며 한정적이 아닌 것으로 이해해야만 한다. 본 발명의 보호 범위는 청구범위에 의하여 해석되어야 하며, 그와 동등한 범위 내에 있는 모든 기술 사상은 본 발명의 권리범위에 포함되는 것으로 해석되어야 할 것이다.Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. The scope of protection of the present invention should be interpreted by the claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

Claims (9)

  1. 기준광이 되는 제1 FMCW(Frequency Modulated Continuous Wave) 레이저 및 해상으로 송출되어 반사되는 제2 FMCW 레이저를 코히런트 방식으로 간섭시켜 증폭된 레이저를 생성하고, 상기 증폭된 레이저로부터 해상물체정보신호를 검출하는 라이다 센서부(100);Coherent interference between the first frequency modulated continuous wave (FMCW) laser serving as reference light and the second FMCW laser transmitted and reflected at sea are generated to generate an amplified laser, and to detect the marine object information signal from the amplified laser. Lidar sensor unit 100;
    상기 라이다 센서부(100)로부터 수신된 해상물체정보신호를 영상으로 처리하는 제어부(200); 및A controller 200 for processing the marine object information signal received from the lidar sensor unit 100 into an image; And
    상기 라이다 센서부(100) 및 제어부(200)가 구비되는 하우징부(10);를 포함하는 것을 특징으로 하는 코히런트 방식을 이용한 FMCW 라이다 시스템.The housing unit 10 is provided with the lidar sensor unit 100 and the control unit 200; FMCW lidar system using a coherent method characterized in that it comprises a.
  2. 제1항에 있어서,The method of claim 1,
    상기 라이다 센서부(100)는,The lidar sensor unit 100,
    상기 제1 FMCW 레이저 및 제2 FMCW 레이저를 발진시키는 레이저 발진기(110);A laser oscillator 110 for oscillating the first FMCW laser and the second FMCW laser;
    상기 제2 FMCW 레이저를 증폭시키는 레이저 증폭기(120);A laser amplifier (120) for amplifying the second FMCW laser;
    상기 증폭된 제2 FMCW 레이저의 내부반사에 의한 잔상을 제거하는 송수광 광학계(130);A transmission / reception optical system 130 for removing an afterimage caused by internal reflection of the amplified second FMCW laser;
    상기 잔상이 제거된 제2 FMCW 레이저를 스캔하고 상기 해상으로 송출하며, 송출된 제2 FMCW 레이저가 해상물체에 의해 반사되는 경우, 해상물체정보신호를 가지고 있는 반사된 제2 FMCW 레이저를 재 스캔하는 스캐너 모듈(140);Scanning the second FMCW laser from which the afterimage has been removed and transmitting it to the sea; and if the transmitted second FMCW laser is reflected by the sea object, rescanning the reflected second FMCW laser having the sea object information signal. Scanner module 140;
    상기 제1 FMCW 레이저 및 상기 재 스캔된 제2 FMCW 레이저를 코히런트 방식으로 간섭시켜 증폭된 레이저를 생성하는 레이저 간섭계(150);A laser interferometer (150) for generating an amplified laser by interfering the first FMCW laser and the rescanned second FMCW laser in a coherent manner;
    상기 레이저 간섭계(150)를 통해 증폭된 레이저로부터 해상물체정보신호를 검출하는 검출기 모듈(160); 및A detector module 160 for detecting a marine object information signal from the laser amplified by the laser interferometer 150; And
    상기 해상물체정보신호, 상기 스캐너 모듈(140)로부터 수신된 스캐너 위치 정보 및 GPS/IMU로부터 수신된 위치/자세 정보 중 적어도 어느 하나 이상을 상기 제어부(200)에서 확인 가능한 형태로 변환하여 제공하거나, 상기 제어부(200)로부터 수신한 제어신호를 상기 검출기 모듈(160), 스캐너 모듈(140) 및 GPS/IMU(300) 중 적어도 어느 하나 이상에 전송하는 로직 모듈(170);을 포함하는 것을 특징으로 하는 코히런트 방식을 이용한 FMCW 라이다 시스템.At least one or more of the marine object information signal, the scanner position information received from the scanner module 140 and the position / posture information received from the GPS / IMU are converted into a form that can be confirmed by the controller 200, or And a logic module 170 for transmitting the control signal received from the control unit 200 to at least one of the detector module 160, the scanner module 140, and the GPS / IMU 300. FMCW lidar system using a coherent method.
  3. 제2항에 있어서.The method of claim 2.
    상기 레이저 발진기(110)는 광학적 PPL(Phase Locked Loop) 구조를 갖는 것을 특징으로 하는 코히런트 방식을 이용한 FMCW 라이다 시스템.The laser oscillator 110 is an FMCW lidar system using a coherent method, characterized in that it has an optical PPL (Phase Locked Loop) structure.
  4. 제2항에 있어서,The method of claim 2,
    상기 송수광 광학계(130)는 일축형 송수광 광학계인 것을 특징으로 하는 코히런트 방식을 이용한 FMCW 라이다 시스템.The transmitting and receiving optical system 130 is an FMCW lidar system using a coherent method, characterized in that the uniaxial transmit and receive optical system.
  5. 제2항에 있어서,The method of claim 2,
    상기 송수광 광학계(130)는 상기 재 스캔된 제2 FMCW 레이저의 잔상을 제거하여 상기 레이저 간섭계(150)로 전송하는 것을 특징으로 하는 코히런트 방식을 이용한 FMCW 라이다 시스템.The transmitting and receiving optical system 130 removes an afterimage of the rescanned second FMCW laser and transmits it to the laser interferometer (150).
  6. 제2항에 있어서,The method of claim 2,
    상기 스캐너 모듈(140)은 갈바노미터 스캔(Galvanometer Scan) 구조를 갖는 것을 특징으로 하는 코히런트 방식을 이용한 FMCW 라이다 시스템.The scanner module 140 is a FMCW lidar system using a coherent method, characterized in that it has a galvanometer scan structure.
  7. 제2항에 있어서,The method of claim 2,
    상기 해상물체정보신호는 해상물체의 위치 신호, 이동 속도, 이동 방향 및 물체 형상 정보 중 적어도 어느 하나 이상을 포함하는 것을 특징으로 하는 코히런트 방식을 이용한 FMCW 라이다 시스템.The marine object information signal is a FMCW lidar system using a coherent method, characterized in that at least any one or more of the position signal, the moving speed, the moving direction and the object shape information of the marine object.
  8. 제1항에 있어서,The method of claim 1,
    상기 제어부(200)는 로직 모듈을 통해 상기 라이다 센서부(100)를 제어하는 센서부 제어기(210); 및The controller 200 includes a sensor unit controller 210 for controlling the lidar sensor unit 100 through a logic module; And
    상기 해상물체정보신호를 화면에 나타내는 영상 처리부(220);를 포함하는 것을 특징으로 하는 코히런트 방식을 이용한 FMCW 라이다 시스템.And an image processing unit (220) for displaying the marine object information signal on the screen.
  9. 제1항에 있어서,The method of claim 1,
    상기 하우징부(10)는 IP68 등급을 갖는 것을 특징으로 하는 코히런트 방식을 이용한 FMCW 라이다 시스템.The housing unit (10) FMCW lidar system using a coherent method, characterized in that having an IP68 rating.
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