KR101906374B1 - Manless apparatus type LiDAR sensor device and processing method thereof - Google Patents

Abstract

The present invention can be applied to a small unmanned device with an ultra-lightweight and low cost by optimizing the weight, size, and power consumption of the LiDAR sensor module, A Lada sensor device for a UAV and a method for processing the Lada sensor device are disclosed.
The disclosed LRD sensor device for a unmanned aerial vehicle can detect 360 degrees omnidirection using only a single laser light source and a photodiode and is capable of detecting a sensor and an object from a time of flight of light reflected from a target object, (LiDAR) sensor module for detecting the distance between the sensor modules; And a control unit for controlling the on-board equipment moving at a high speed in an outdoor environment through high-speed signal processing in real time on the signals received by the LIDAR sensor module.

Description

[0001] The present invention relates to a LiDAR sensor device for a UAV,

The present invention relates to a RRD sensor device for a UAV and a method of processing the RRD sensor device. More particularly, the present invention relates to a LiDAR sensor module for precise recognition of a real-time environment and optimizing weight, size, and power consumption It is applicable to small unmanned devices with an ultra-light and low-cost type. It can detect 360 ° omnidirection by using only a single laser light source and photodiode (Photo Diode). It can detect from the time of flight of reflected light reflected from the target object, The present invention relates to a Lada sensor device for a UAV, and a method of processing the Lada sensor device, which can detect a distance between objects and control the on-board device moving at a high speed in an outdoor environment through high-speed signal processing in real time in a sensor module.

Recently, as interest in autonomous vehicles has increased, the demand for LiDAR (Light Detection and Ranging) sensors has increased, but the average selling price of Lada is very high, about $ 39,000. However, it is necessary to use low cost to apply to other low cost products such as drone, robot, motorcycle, and cleaner.

In order to be used in drones, robots, motorcycles, cleaners, etc., it is necessary to reduce the size of the vehicle and to reduce the power consumption of the vehicle.

Unmanned vehicles such as UAVs, autonomous vehicles, and marine vehicles are important to recognize and determine the location, movement, terrain, and obstacles of moving objects. The use of small UAVs and the continuous autonomous mobile industry Driving operation is essential.

This unmanned mobile vehicle has national investment and support for the autonomous operation of the unmanned vehicle company as well as the automobile maker based on the common technology of the intelligent technology for recognition, judgment and control and the network based operation, It is being monopolized by advanced foreign companies that have core technologies of sensors for unmanned vehicles.

Some domestic companies are focusing on low cost and small size by lowering the specifications of high speed sensors. However, the original technologies such as 'cognitive technology' and 'sensing system' remain at the research level, and all of them are imported. And the technology gap between them is expanding.

These core technologies can be applied to various industries such as unmanned devices, autonomous vehicles, intelligent robots, distance and area measurement in civil and architectural environments, aviation, etc. In the future, with the expansion of the market of drone market and unmanned robot, Is expected to increase sharply.

Therefore, the LIDAR technology can be used not only as a sensor of an unmanned mobile body but also as a transporter, a crane, a robot, etc. used in satellite and aerospace fields, unmanned vehicles, factories and shipyards for terrestrial and environmental observations It is necessary to be implemented as an ultra-lightweight and low-cost type in order to be applied to a mobile or multimodal operation mode through an integrated approach in the field of aerospace and marine industry.

Korean Patent Laid-Open Publication No. 10-2015-0047215 (Laidar sensor system name:

It is an object of the present invention to solve the above-mentioned problems, and it is an object of the present invention to provide a LiDAR sensor module capable of realizing accurate perception of a real-time environment, optimizing weight, size and power consumption, . It is able to detect 360 degrees omnidirection by using only a single laser light source and photodiode. It detects the distance between the sensor and the object from the time of flight of the light reflected from the target object. The present invention provides a sensor device and a method for processing the same, which enable a sensor module to control a high-speed moving device in an outdoor environment through high-speed signal processing in real time.

According to an aspect of the present invention, there is provided a Ridor sensor device for a UAV, which can detect 360 degrees omnidirection using only a single laser light source and a photodiode, A LiDAR sensor module that senses the distance between the sensor and the object from the time of flight; And a control unit for controlling the on-board equipment moving at a high speed in an outdoor environment through high-speed signal processing in real time on the signals received by the LIDAR sensor module.

Here, the LIDAR sensor module may perform laser scanning using a reflector of a rotary mirror structure, an optical lens, and a rotation motor for 360-degree omni-directional sensing.

The controller may further include a power supply for supplying power to the LIDAR sensor module. The controller may control the power supplied from the power supply unit to be distributed to the light source unit, the driving unit, and the receiving unit so as to be consumed with low power.

The Lidar sensor module may further include: a laser emitting unit emitting laser light; A laser light receiving unit for receiving laser light; A scanning mirror for reflecting laser light; And a mirror rotator for rotating the scanning mirror.

In addition, the controller may process the signals received from the Lidar sensor module at a high speed through a TDC (Time to Digital Converter) circuit to calculate the distance between the sensor and the object, or to calculate an error due to ambient noise or signal processing error Can be corrected.

The laser emitting unit may use a laser diode, and the laser receiving unit may use a photodiode.

The TIA amplification circuit includes a low input resistance circuit for high-speed operation and a low-noise amplifier circuit for sensing a fine signal. The TIA amplification circuit includes a TIA (Trans-Impedance Amplifier) amplifying circuit for high- And a high voltage regulator circuit for biasing the photodiode.

According to another aspect of the present invention, there is provided a method of processing a sensor device for RBI for an unmanned aerial vehicle, comprising the steps of: (a) emitting a single laser beam in the RI sensor module; (b) receiving laser light reflected from the target object through the photodiode in the Raidasensor module and returning to the target object; (c) performing a high-speed signal processing in real time on the signals received by the control unit from the LIDAR sensor module; (d) calculating the distance between the sensor and the object from the time of flight of the light reflected by the control unit, or correcting an error due to ambient noise or signal processing error; And (e) controlling the on-board device moving at high speed in the outdoor environment based on the signal processing result.

In addition, in the step (d), the controller may process the signals received by the Lidar sensor module at a high speed through a TDC (Time to Digital Converter) circuit to calculate the distance between the sensor and the object, The error due to the signal processing error can be corrected.

In the steps (a) and (b), the LIDAR sensor module may perform laser scanning using a reflector of a rotary mirror structure, an optical lens, and a rotary motor to perform 360-omni-directional sensing .

The Lada sensor module according to the present invention can be applied to a smart UAV, an unmanned delivery drones, an unmanned vacuum cleaner, an unmanned two-wheeled vehicle, and an unmanned robot.

In addition, the LIDAR technology according to the present invention can be utilized in satellite and aerospace fields, unmanned vehicles, factories, and shipyards for the terrestrial terrain and environmental observation as well as sensors of unmanned moving objects by realizing the ultra-light and low- It can be applied to transporters, cranes, robots, etc., and can be applied as a hybrid or cooperative operation type of mobile bodies through an integrated approach in the field of maritime aviation and marine industry.

FIG. 1 is a block diagram showing a main configuration of a RLayer sensor device for a UAV according to the present invention.
FIG. 2 is a diagram illustrating a principle of 360-degree laser scanning of a Lidar sensor module according to an embodiment of the present invention.
3 is a view illustrating a principle of receiving laser light in a Lidar sensor module according to an embodiment of the present invention.
FIG. 4 is a view showing an embodiment and an application of the LIDAR sensor module and the control unit according to the embodiment of the present invention.
5 is a diagram showing an example of an APD driving circuit used for signal detection in the Raidasensor module according to the present invention.
6 is a diagram illustrating an example of the circuit configuration of the analog receiving unit of the Rida sensor module according to the embodiment of the present invention.
FIG. 7 is a flowchart illustrating a method of processing a RDA sensor apparatus for a UAV according to an exemplary embodiment of the present invention. Referring to FIG.
8 is a diagram illustrating an example of a configuration of a TDC circuit for processing signals received through the Raidasensor module at a high speed according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "electrically connected" with another part in between . Also, when an element is referred to as "comprising ", it means that it can include other elements as well, without departing from the other elements unless specifically stated otherwise.

If any part is referred to as being "on" another part, it may be directly on the other part or may be accompanied by another part therebetween. In contrast, when a section is referred to as being "directly above" another section, no other section is involved.

The terms first, second and third, etc. are used to describe various portions, components, regions, layers and / or sections, but are not limited thereto. These terms are only used to distinguish any moiety, element, region, layer or section from another moiety, moiety, region, layer or section. Thus, a first portion, component, region, layer or section described below may be referred to as a second portion, component, region, layer or section without departing from the scope of the present invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms as used herein include plural forms as long as the phrases do not expressly express the opposite meaning thereto. Means that a particular feature, region, integer, step, operation, element and / or component is specified and that the presence or absence of other features, regions, integers, steps, operations, elements, and / It does not exclude addition.

Terms indicating relative space such as "below "," above ", and the like may be used to more easily describe the relationship to other portions of a portion shown in the figures. These terms are intended to include other meanings or acts of the apparatus in use, as well as intended meanings in the drawings. For example, when inverting a device in the figures, certain parts that are described as being "below" other parts are described as being "above " other parts. Thus, an exemplary term "below" includes both up and down directions. The device can be rotated by 90 degrees or rotated at different angles, and terms indicating relative space are interpreted accordingly.

Unless otherwise defined, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Commonly used predefined terms are further interpreted as having a meaning consistent with the relevant technical literature and the present disclosure, and are not to be construed as ideal or very formal meanings unless defined otherwise.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

FIG. 1 is a block diagram showing a main configuration of a RLayer sensor device for a UAV according to the present invention.

Referring to FIG. 1, the Rada sensor device 100 for a UAV according to the present invention includes a LiDAR sensor module 110, a power source 120, and a controller 130.

Here, the RIDAR sensor module 110 includes a laser emitting unit 112 for emitting laser light; A laser light receiving unit 114 for receiving laser light; A scanning mirror 116 for reflecting the laser beam; And a mirror rotation unit 118 for rotating the scanning mirror.

In addition, the RIDAR sensor module 110 can detect 360 degrees omni-directional using only a single laser light source and a photodiode. The RIDAR sensor module 110 can detect the time of flight of the light reflected from the target object, Detect the distance between objects. At this time, as shown in FIG. 2, the RIDAR sensor module 110 can perform laser scanning using a reflector of a rotary mirror structure, an optical lens, and a rotary motor for 360-degree omnidirectional sensing. FIG. 2 is a diagram illustrating a principle of 360-degree laser scanning of a Lidar sensor module according to an embodiment of the present invention. In the case of a mechanical optical system, the Lidar sensor module 110 rotates the scanning mirror 116 through the rotating mechanical unit in the mirror rotating unit 118 to refract light emitted from the light source unit and emit the light. In the case of a non-mechanical optical system, light emitted from the light source unit is transmitted to a scanning optical system through a beam steering optical system. Beam steering enables scanning in a narrow area using an aspheric mirror for omni-directional scanning.

Also, as shown in FIG. 3, the RIDAR sensor module 110 receives and reflects a signal reflected and scattered by an object 40 m away from the sensor and detects the signal. 3 is a view illustrating a principle of receiving laser light in a Lidar sensor module according to an embodiment of the present invention. As shown in FIG. 3, the light scattered at the object surface has a Lambertian profile. As shown in FIG. 3, the light efficiency of the object can be analyzed by detecting a signal from the light entering the effective detection area among the total light beams returning from scattering.

4, the LIDAR sensor module 110 includes a circuit for implementing the laser light emitting unit 112 as a laser pulse light emitting unit that emits the laser light source in the form of a pulse light and corrects the output light, can do. FIG. 4 is a view showing an embodiment and an application of the LIDAR sensor module and the control unit according to the embodiment of the present invention. In Fig. 4, the laser light receiving section 114 may include an APD lens and a signal detecting APD (avalanche photodiode), an analog sensor, and a distance measuring technique. The control unit 130 includes a configuration for controlling the laser module by generating a laser signal for the control of the laser emitting unit 112. The control unit 130 performs motor rotation control and error correction control for the scan unit control, And performs data signal processing and data correction control. The control unit 130 is implemented as an MCU (Micro Control Unit), and performs onboard device algorithm, onboard device control SW, system interface, and control. Accordingly, the Lidar sensor module 110 having such a configuration can be applied to a drones, a robot cleaner, a motorcycle, and the like.

In the LIDAR sensor module 110, the LIDAR pulse light source uses a 905-nanometer (nm) pulse light source, and has an advantage that the solar light output spectrum and external noise are advantageously eliminated. Since the 905 nm wavelength band can be measured with a Si-based detector, it has the advantage that the price of the detector is lowered. In order to measure the distance based on the time of flight (ToF) method using a 905 nm light source, The output pulse width and repetition ratio of RC circuit based driver depend on circuit resistance and capacitance variation.

In addition, the Raidasensor module 110 uses a time-of-flight (ToF) method to measure the distance, generates a pulse signal at a predetermined interval, measures a signal reflected and scattered over time, And converts the time-dependent signal into the signal information based on the distance using the distance-dependent relation of light in the air over time. Here, the performance of the LiDAR system and the measurement distance can be determined according to the repetition ratio of the light source, the pulse width, the responsivity of the detector, and the speed.

Accordingly, the control unit 130 calculates the time difference of the signal reflected back from the light source through the Raidasensor module 110, and calculates the distance between the objects according to the following equation (1).

Here, c represents the speed of light, and? T represents the difference in delay time between pulses.

In addition, the LIDAR sensor module 110 may use an APD driving circuit as shown in FIG. 5 for signal detection. 5 is a diagram showing an example of an APD driving circuit used for signal detection in the Raidasensor module according to the present invention. In FIG. 5, an avalanche photodiode (APD) driving circuit uses an APD element with high sensitivity because the intensity of the received signal is small. Light received in all directions is incident on the detection portion as parallel light through a light receiving optical system, To be condensed on the sensor surface of the detector.

The power supply unit 120 supplies power necessary for the operation of the LIDAR sensor module 110 and the control unit 130. The power consumption of the radar sensor module 110, which is supplied from the power source unit 120 and is operated, is preferably 5 watts or less.

The control unit 130 controls high-speed signal processing in real time on the signals received by the Raidasensor module 110 to perform high-speed movement in the outdoor environment.

In addition, the control unit 130 may control the power supplied from the power supply unit 120 to be distributed according to the light source unit, the driving unit, and the receiving unit so as to be consumed with low power.

The control unit 130 processes the signals received by the Raidasensor module 110 at a high speed through a TDC (Time to Digital Converter) circuit to calculate the distance between the sensor and the object, The error caused by the error can be corrected.

Further, the laser emitting unit 112 may use a laser diode, and the laser light receiving unit 114 may use a photodiode.

The RIA sensor module 110 may use a TIA (Trans-impedance Amplifier) amplification circuit for high sensitivity and low noise as shown in FIG. 6 is a diagram illustrating an example of the circuit configuration of the analog receiving unit of the Rida sensor module according to the embodiment of the present invention. The TIA amplification circuit may include a low input resistance circuit for high speed operation, a low noise amplification circuit for fine signal sensing, and a high voltage regulator circuit for biasing the photodiode.

FIG. 7 is a flowchart illustrating a method of processing a RDA sensor apparatus for a UAV according to an exemplary embodiment of the present invention. Referring to FIG.

As shown in FIG. 7, the laser sensor module 110 emits a single laser beam (S710).

Then, the laser sensor module 110 receives the laser light reflected from the target object through the photodiode and returns (S720).

Here, the RIDAR sensor module 110 can perform 360-degree omnidirectional sensing by performing laser scanning using a reflector of a rotary mirror structure, an optical lens, and a rotary motor.

Then, the control unit 130 performs high-speed signal processing on the signals received from the Lada sensor module 110 in real time (S730).

That is, the control unit 130 can process the signals received from the Raidasensor module at a high speed through a TDC (Time to Digital Converter) circuit shown in FIG. 8 is a diagram illustrating an example of a configuration of a TDC circuit for processing signals received through the Raidasensor module at a high speed according to an embodiment of the present invention. As shown in FIG. 8, the TDC circuit includes a thermometer-to-binary converter.

Then, the control unit 130 calculates the distance between the sensor and the object based on the time of flight of the reflected light, or corrects the error due to the ambient noise or the signal processing error (S740).

That is, the control unit 130 processes the signals received from the Raidasensor module at a high speed through a TDC (Time to Digital Converter) circuit shown in Fig. 8 to calculate the distance between the sensor and the object, The error due to the signal processing error can be corrected.

Then, the control unit 130 controls the on-board device moving at high speed in the outdoor environment based on the signal processing result (S750).

Meanwhile, the RL sensor device 100 for a UAV according to the present invention may include a low-power, low-noise power management unit as shown in FIG. 9 is a diagram illustrating an example in which a low-power, low-noise power management unit is configured in the RRD sensor device for a UAV according to the present invention. As shown in FIG. 9, the RI sensor device 100 for a UAV constitutes a low-noise power source for a high-sensitivity LIDAR sensor and a low-power power source for a low-power LIDAR module. It is possible to use 3.8V to 36V as the operating voltage and 4.5V or more as the start up voltage. As shown in FIG. 9, it is possible to use 24V DC as the reverse battery protection voltage, 12V DC as the overvoltage protection voltage, and 5V DC as the load dump protection voltage.

In addition, the RRAS sensor device 100 for a UAV according to the present invention is an algorithm for controlling an onboard device, and it is possible to use an algorithm for implementation of avoiding a mounted device according to a situation or an onboard device control algorithm for obstacle avoidance.

The RL sensor device 100 for a UAV according to the present invention can implement the following functions.

First, the implementation of the analog receiver for high sensitivity optical sensing, the arrangement of the photodiode considering interlocking with the optical system and the module structure, the interlocking of the analog amplifier circuit to satisfy the required operation speed, the photodiode structure for satisfying the required sensing sensitivity, , Low noise TIA (Trans-impedance Amplifier) amplification circuit implementation, low input resistance TIA circuit implementation for high speed operation, implementation of low noise amplification circuit considering signal to noise ratio, stable bias for Photodiode High-voltage regulator circuit is applied.

In addition, implementation of TDC technology for distance resolution improvement, realization of high speed comparator circuit for detecting the arrival time of analog signal, implementation of comparator reference voltage control technology for improving signal quality, implementation of high speed comparator circuit for digital signal generation, , Implementation of counting technology capable of fast time-division data conversion, implementation of walk error correction technique according to object distance and reflectance, and TDC circuit for high-resolution ToF signal detection.

In addition, a distance conversion and error correction technique for generating point cloud data is implemented in the RIDAR sensor module 110, an implementation of a ToF signal-based distance conversion calculation algorithm, an error condition compensation technique based on an atmospheric condition and a noise, Implementation of ToF signal processing architecture for high-speed point-to-point data transmission.

The size of the sensor module 110 is 808050 mm ³ or less, the weight is 0.5 kg or less, the collision avoidance time is 1 second or less, and the sensing distance is 40 m or more.

As described above, according to the present invention, it is possible to precisely recognize real-time ambient environment through a LiDAR sensor module, optimize weight, size, power consumption, etc., It can detect 360 ° omnidirection using only a laser light source and photodiode. It detects the distance between sensor and object from the time of flight of light reflected from the target object, A high-speed signal processing can be performed to control the on-board device moving at a high speed in an outdoor environment, and a Lada sensor device for a UAV and a processing method thereof can be realized.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims and their equivalents. Only. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

100: Lada sensor device for UAV
110: Raidasensor module
112: laser emitting part
114: laser light receiving portion
116: scanning mirror
118:
120:
130:

Claims (10)

The sensor detects the distance between the sensor and the object from the time-of-flight of the light reflected from the target object using a single laser light source and a photodiode (LiDAR Sensor module; And
A control unit for controlling the on-board equipment moving at a high speed in an outdoor environment through high-speed signal processing in real time on signals received by the LIDAR sensor module;
Lt; / RTI >
In the case of a non-mechanical optical system, the LIDAR sensor module transmits light emitted from the light source of the single laser light source to a scanning optical system through a beam steering optical system,
Wherein the Lidar sensor module detects a signal from the light entering the effective detection area among the total light beams reflected and scattered by the target object and analyzes the light efficiency according to the measurement distance of the target object,
Lida sensor device for UAV.
The method according to claim 1,
Wherein the LIDAR sensor module performs laser scanning using a reflector of a rotary mirror structure, an optical lens, and a rotary motor for 360-degree omnidirectional sensing.
The method according to claim 1,
Further comprising a power supply unit for supplying power to the Raidasensor module,
Wherein the control unit controls the power source unit, the driving unit, and the receiving unit so that the power source is consumed at a low power level.
The method according to claim 1,
The LIDAR sensor module includes: a laser emitting unit emitting laser light; A laser light receiving unit for receiving laser light; A scanning mirror for reflecting laser light; And a mirror rotation unit (Mirror Rotation) for rotating the scanning mirror.
The method according to claim 1,
The control unit processes the signals received from the Lidar sensor module at a high speed through a TDC (Time to Digital Converter) circuit to calculate the distance between the sensor and the object, or corrects errors due to ambient noise or signal processing errors The sensor device for unmanned aerial vehicles.
5. The method of claim 4,
Wherein the laser emitting unit uses a laser diode, and the laser receiving unit uses a photodiode.
The method according to claim 1,
The TIA amplification circuit includes a low input resistance circuit for high speed operation, a low noise amplification circuit for fine signal sensing, and a low noise amplification circuit for fine signal sensing. The LIDAR sensor module includes a TIA (Trans-impedance Amplifier) amplification circuit for high- And a high voltage regulator circuit for biasing the diode.
(a) emitting a single laser beam in the Raidasensor module;
(b) receiving laser light reflected from the target object through the photodiode in the Raidasensor module and returning to the target object;
(c) performing a high-speed signal processing in real time on the signals received by the control unit from the LIDAR sensor module;
(d) calculating the distance between the sensor and the object from the time of flight of the light reflected by the control unit, or correcting an error due to ambient noise or signal processing error; And
(e) controlling the on-board device moving at high speed in the outdoor environment based on the signal processing result;
Lt; / RTI >
In the case of a non-mechanical optical system, the LIDAR sensor module transmits light emitted from the light source of the single laser light source to a scanning optical system through a beam steering optical system,
Wherein the Lidar sensor module detects a signal from the light entering the effective detection area among the total light beams reflected and scattered by the target object and analyzes the light efficiency according to the measurement distance of the target object,
A method of treating a Lada sensor device for a UAV.
9. The method of claim 8,
In the step (d), the control unit processes the signals received from the Ridasensor module at a high speed through a TDC (Time to Digital Converter) circuit to calculate the distance between the sensor and the object, And correcting the error due to the error.
9. The method of claim 8,
In the steps (a) and (b), the Raidasensor module includes a reflector of a rotary mirror structure, a laser for scanning for 360 degrees omnidirectional detection by performing laser scanning using an optical lens and a rotary motor A method of processing a sensor device.

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