KR20170109330A - Ladar system - Google Patents

Abstract

An embodiment of the present invention provides a lidar system controlling a position of an object. The lidar system comprises: a body a central portion having a central axis extended in a first direction and a peripheral portion arranged around the central portion; a core laser arranged at the central portion and emitting light in the direction practically in parallel with the central axis; a central detector arranged adjacent to the central laser and receiving light flowing into from the outside to convert the light into electric signals; a first peripheral laser arranged at the peripheral portion and emitting light in the direction tilted at a first angle with respect to the peripheral laser; a first peripheral detector arranged adjacent to the first peripheral laser and receiving light from the outside to convert the light into electric signals; a rotating unit rotating the first peripheral laser with respect to the central axis; a control unit setting up the position of the object based on the signal converted by at least one between the central detector and the first peripheral detector; and a communication unit transmitting a position setup value of the control unit to the object. The lidar system can determine and set up the position of the object via the central laser light and the peripheral laser light and easily and precisely control the object by transmitting the setup value to the object.

Description

Ladar system}

Embodiments of the present invention relate to a lidar system, and more particularly to a ladder system for manipulating the position of an object.

The LADAR system (Laser Detection and Ranging System) detects the distance, direction, velocity, temperature, material distribution and concentration characteristics to the object by illuminating the laser towards the target and receiving the reflected light from the target. System.

Lidar system has been used for meteorological observation and distance measurement. Recently, it has been studied for satellite meteorological observation, unmanned robot sensor, unmanned vehicle, and 3D image modeling.

US registered patent 7,969,558 (June 28, 2011)

Embodiments of the present invention provide a ladder system capable of precisely manipulating the position of an object.

In one embodiment of the present invention,

A lidar system for manipulating a position of a target object,

A body including a central portion having a central axis extending in a first direction and a peripheral portion disposed about the central portion;

A central laser disposed in the central portion and emitting light in a direction substantially parallel to the central axis;

A center detector disposed adjacent to the center laser for receiving light incident from the outside and converting the received light into an electrical signal;

A first peripheral laser disposed in the peripheral portion and emitting light in a direction inclined at a first angle with respect to the central axis;

A first ambient detector disposed adjacent to the first peripheral laser for receiving light from an external source and converting the received light into an electrical signal;

A rotating unit rotating the first peripheral laser with respect to the central axis;

A controller for setting a position of the object based on the signal converted by at least one of the center detector and the first peripheral detector; And

And a communication unit for transmitting the position setting value of the control unit to the object.

A second peripheral laser disposed in the peripheral portion and emitting light in a direction inclined at a second angle with respect to the central axis; And a second ambient detector disposed adjacent to the second peripheral laser and adapted to receive and convert the light received from the outside into an electric signal, wherein the second angle may be smaller than the first angle.

The first angle may be adjusted in conjunction with the distance from the ladder system to the object and the size of the object.

The body may include a rod supporting the center laser, and an angle adjuster disposed on the rod side and supporting the first peripheral laser and adjusting the first angle.

Wherein the angle adjuster comprises: a tubular cylinder moving in the longitudinal direction of the rod; A first support bar having one side connected to the cylinder by a hinge; And a second support bar having one side connected to the rod by a hinge and the other side connected to the first support bar by a hinge.

Said angle adjuster comprising: expansion means having one side connected to the top of said rod; And a support bar hinged to one side of the rod by a hinge and the other side being connected to the expansion and contraction means by a hinge.

Wherein the rotation unit comprises: an encoder for measuring a rotation angle of the first peripheral laser about the central axis; And a rotation motor for rotating the peripheral portion about the central axis.

The control unit may measure the distance to the target object by comparing the light emitted from the center laser with the light reflected by the target and incident on the center detector.

The control unit may include: measuring a distance to the object; Adjusting the first angle; Determining a position of the object by rotating the first peripheral laser; And setting a position of the object; Can be performed.

In another embodiment of the present invention,

A lidar system for controlling an unmanned aerial vehicle, comprising: a central laser for measuring a distance from the lidar system to the unmanned air vehicle; and a center detector disposed adjacent to the central laser;

At least one peripheral laser having an optical axis that is tilted with respect to an optical axis of the central laser, at least one peripheral laser rotating about the central laser, and at least one peripheral detector disposed adjacent to the at least one peripheral laser; And

And a control unit for determining a current position of the unmanned air vehicle by the detection signal of at least one of the center detector and the surrounding detector and setting the next position of the unmanned air vehicle.

The next position of the unmanned aerial vehicle may be set as an inner area of the rotation scan line formed by the rotation of the at least one peripheral laser.

And a communication unit transmitting the next position of the unmanned air vehicle to the unmanned air vehicle.

And an angle adjuster for adjusting the degree of inclination of the optical axis of the at least one peripheral laser with respect to the optical axis of the central laser.

The control unit may measure the distance to the unmanned air vehicle by comparing the light emitted from the center laser with the light reflected from the target and incident on the center detector.

And a rotation unit for rotating the at least one peripheral laser.

Other aspects, features and advantages of the present invention will become apparent from the following detailed description of the invention, claims and drawings.

As described above, according to the embodiments of the present invention, the lidar system determines and sets the position of the object through the center laser light and the peripheral laser light, and transmits the set value to the object. You can steer.

Of course, the scope of the present invention is not limited by these effects.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view showing a state in which a target object is controlled by a ladder system according to an embodiment of the present invention; FIG.
2 is a diagram schematically illustrating a configuration of a ladder system according to an embodiment of the present invention.
3A to 3D are diagrams schematically showing an example of determining the position of a target object with the ladder system.
4 is a block diagram showing a step of generating a control command signal for a target object of the control unit.
5 is a schematic view of a body including an angle adjuster according to an embodiment of the present invention.
6A is a schematic view of a body including an angle adjuster according to another embodiment of the present invention.
FIG. 6B illustrates that the expanding means included in the angle adjuster according to another embodiment of the present invention is an electric cylinder.
7 is a diagram schematically illustrating a ladder system according to another embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and methods of achieving them will be apparent with reference to the embodiments described in detail below with reference to the drawings. However, the present invention is not limited to the embodiments described below, but may be implemented in various forms.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or corresponding components throughout the drawings, and a duplicate description thereof will be omitted .

In the following embodiments, when various components such as layers, films, regions, plates, and the like are referred to as being " on " other components, . Also, for convenience of explanation, the components may be exaggerated or reduced in size. For example, the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of explanation, and thus the present invention is not necessarily limited to those shown in the drawings.

In the following embodiments, the x-axis, the y-axis, and the z-axis are not limited to three axes on the orthogonal coordinate system, and can be interpreted in a broad sense including the three axes. For example, the x-axis, y-axis, and z-axis may be orthogonal to each other, but may refer to different directions that are not orthogonal to each other.

FIG. 1 is a view schematically showing how a target object 200 is controlled by a lidar system 100 according to embodiments of the present invention.

Referring to FIG. 1, when a laser is irradiated to a target object 200 by a lidar system 100 and then an irradiated area is moved, the target object 200 moves along the irradiated area. This can be performed by monitoring the position of the object 200 in real time by the lidar system 100 and then transmitting a control command to the ladar system 100 to move the object 200 to the laser irradiation area. The object 200 receiving the control command changes its position according to the control command.

The object 200 may be an unmanned vehicle, an unmanned aerial vehicle, or the like as a movable object. The object 200 may include a receiving unit receiving a control command of the lidar system 100 and a driving unit driving the control unit in accordance with the control command. A variety of equipment may be mounted on the object 200 depending on the application.

There may be a method of mounting a global positioning system (GPS) receiver on the object 200 by moving the object 200, and locating and moving the position by the GPS reception value. However, the method using the GPS may have a large error in the position and difficult to measure in the room, so it may be difficult to accurately grasp the position. Another method of moving the object 200 is to directly control the user using an existing radio control device. However, in the case of a user who is not skilled in manipulating the object 200 because of skillful technique, it is difficult to precisely adjust the position.

The lidar system 100 according to the embodiments of the present invention irradiates the object 200 with laser light and moves the object 200 along the irradiation area of the laser light to accurately position the object 200 It can be controlled easily.

Hereinafter, a more detailed configuration will be described with reference to FIG. 2 through FIG.

FIG. 2 is a diagram schematically illustrating a configuration of a lidar system 100 according to an embodiment of the present invention.

Referring to FIG. 2, a lidar system 100 according to embodiments of the present invention controls a movable object 200 and includes a body 110, a center laser 120, a center detector 122, 1 peripheral laser 130, a first peripheral detector 132, a rotation unit 150, a control unit 160, and a communication unit 170.

The body 110 includes a central portion having a central axis CA extending in a first direction (+ z direction) and a peripheral portion disposed around the central portion. A center laser 120 and a center detector 122 are disposed at the central portion and a first peripheral laser 130 and a first peripheral detector 132 are disposed at the peripheral portion. The peripheral portion may further include second to n-th peripheral lasers and second to n-th peripheral detectors. (integer with n > 2) The central part and the peripheral part may not be integrally formed. That is, the peripheral portion may be formed as a separate member from the central portion to support the first peripheral laser 130 and the first peripheral detector 132. Of course, the central portion and the peripheral portion may be integrally formed.

The body 110 includes a rod 111 for supporting the center laser 120 and an angle adjuster 113 for adjusting the angle between the optical axis LA1 of the first peripheral laser 130 and the center axis CA can do. The structure of the angle adjuster 113 will be described later.

The center laser 120 may be disposed at a central portion of the body 110 to emit light in a direction substantially parallel to the central axis CA. Here, the 'substantially parallel direction' means that the angle between the direction of the central axis CA and the optical axis of the central laser 120 may be within about 5 degrees. A processing error may occur in disposing the center laser 120 at the center, and the angle between the center axis CA and the optical axis of the center laser 120 may not be exactly 0 degrees.

The center axis CA and the optical axis LA of the center laser 120 may or may not coincide with each other. 2, the optical axis LA of the central laser 120 may be formed to have a predetermined distance from the central axis CA, but the present invention is not limited thereto, Or may be disposed coincident with the central axis CA.

The center detector 122 is disposed adjacent to the center laser 120 and receives the light from the outside to convert it into an electrical signal. The center detector 122 may comprise a photodiode. The center detector 122 may further include a focusing lens for focusing the light in front of the photodiode.

The center laser 120 and the center detector 122 may be for measuring the distance d from the lidar system 100 to the object 200. [ The light emitted from the central laser 120 can be irradiated to the object 200 and the light reflected from the object 200 after being irradiated to the object 200 can be received by the center detector 122.

In some embodiments, the central laser 120 may be a laser that emits intensity-modulated pulsed light. It is possible to precisely measure the distance from the point of time when the laser light is irradiated by the modulated pulse light to the point of time when the light is reflected by the object 200 and received by the center detector 122 . The time difference can be calculated from the phase shift of the irradiated received light and the modulated frequency of the laser light.

The first peripheral laser 130 emits light in a direction tilted at the first angle? 1 with respect to the central axis CA and can rotate 360 degrees with respect to the central axis CA. Accordingly, the first peripheral laser 130 can form the first rotating scan line SL1 in the vicinity of the position where the object 200 exists. The first rotation scan line SL1 may be substantially circular. The position of the object 200 can be determined by determining the presence or absence of the object 200 along the first rotation scan line SL1.

The first angle? 1 can be determined in consideration of the approximate size A of the object 200. The size A may be determined depending on the width or height of the object 200, or an angle viewed from the diagonal direction. The size A may be set in consideration of the angle formed by the center axis CA with the ground surface.

The first angle? 1 may be set to a value that can be in contact with the first rotation scan line when the object 200 is disposed at the center of the first rotation scan line SL1. For example, the first angle [theta] 1 may be set to about arctan (A / 2d).

The first peripheral detector 132 is disposed adjacent to the first peripheral laser 130 and receives the light from the outside to convert it into an electrical signal. The first ambient detector 132 may comprise a photodiode. The first ambient light detector 132 may further include a focusing lens that focuses light to the front end of the photodiode.

The first peripheral laser 130 and the first peripheral detector 132 may be used to measure whether the object 200 is located at each point of the first rotation scan line. The light emitted from the first peripheral laser 130 can be irradiated onto a part of the object 200 and the light reflected from the object 200 after being irradiated onto the object 200 can be emitted to the first ambient detector 132 It can be received. The distance d to the target object 200 is secured using the center laser 120 so that the light emitted from the center laser 120 is reflected and is received by the first peripheral detector 132 within a predetermined time It is possible to determine whether the object 200 is positioned at each point of the first rotation scan line.

The first peripheral laser 130 is used to determine whether or not the object 200 exists in the first rotation scan line SL1. The light emitted from the first peripheral laser 130 and the light emitted from the first peripheral detector 132, A separate process for measuring the distance of the object 200 may not be necessary.

The first peripheral laser 130 may further include a plurality of peripheral lasers having an optical axis tilted with respect to the central axis CA and rotating about the center axis CA.

The rotation unit 150 may rotate the first peripheral laser 130 about the central axis CA. The rotation unit 150 may be connected to a peripheral portion of the body 110 to rotate the peripheral portion to rotate the first peripheral laser 130. When the central portion and the peripheral portion of the body 110 are separated, only the peripheral portion of the body 110 may be rotated by the rotation portion 150, and the center portion may be fixed. Alternatively, the rotation part 150 may rotate the center part and the peripheral part of the body 110 at the same time.

The rotation unit 150 may include a rotation motor 151. The rotation unit 150 may further include an encoder 153 for measuring a rotation angle alpha of the first peripheral laser 130 about the central axis CA. The encoder 153 may generate a signal for measuring the rotation angle and the rotation direction of the rotation motor 151 in conjunction with the rotation motor 151. [

The control unit 160 may generate a control command for breaking the position of the object 200 and controlling the position of the object 200. [ In addition, the controller 160 may generate a control command for adjusting the first angle? 1 of the first peripheral laser 130 according to the distance of the object 200. The operation of the controller 160 will be described later.

The control unit 160 may be included in the LIDAR system 100 and may be implemented as a circuit board including a semiconductor chip and a circuit, a circuit or software embedded in the semiconductor chip, or software As shown in FIG.

The communication unit 170 may transmit the control command generated by the controller 160 to the object 200. [ The communication unit 170 may also receive a signal for recognizing that the object 200 is a specific object 200 controlled by the ladder system 100. [

The lidar system 100 may further include a housing 180 to receive the configurations. The housing 180 may serve to protect the above configurations. A hole may be formed in a region where light is emitted from the housing 180, or a transparent member may be formed.

3A to 3D are views schematically showing an example of determining the position of the object 200 by the lidar system 100. FIG.

Referring to FIG. 3A, when the object 200 is disposed in the first rotating scan line SL1, only the light emitted by the center laser 120 is irradiated. That is, when the object 200 is sensed by the center laser 120 and is not sensed by the first peripheral laser 130, the control unit 160 determines whether the object 200 is in the first rotation scan line SL1, It can be determined that they are disposed in the inner area.

Referring to FIG. 3B, the object 200 is disposed in the upper region of the first rotation scan line SL1. When the object 200 is sensed only by the upper area of the first rotation scan line SL1 by the first peripheral laser 130, the control unit 160 determines that the object 200 is in contact with the first rotation scan line SL1 It can be determined that it is disposed in the upper area. In addition, it is possible to determine how much is shifted toward the upper side according to the degree of detection in the first rotation scan line SL1. In this case, the control unit 600 may generate a control command to move the object 200 downward.

Referring to FIG. 3C, the object 200 is disposed in the left region of the first rotation scan line SL1. When the object 200 is sensed only by the left region of the first rotation scan line SL1 by the first peripheral laser 130, the control unit 160 determines that the object 200 is located at the left side of the first rotation scan line SL1 It can be determined that they are arranged in the left area. In addition, it is possible to determine how much is shifted toward the left side according to the degree of detection in the first rotation scan line SL1. In this case, the control unit 160 can generate a control command to move the object 200 to the right.

Referring to FIG. 3D, the object 200 is arranged in an inner area and an outer area of the first rotating scan line SL1. In this case, the controller 160 can greatly control the radius of the first rotation scan line SL1. That is, the first angle? 1 of the first peripheral laser 130 can be increased to increase the radius of the first rotating scan line SL1.

4 is a block diagram showing a step of generating a control command signal for the object 200 of the control unit 160. In FIG.

The LIDAR system 100 and the object 200 may be interlocked with each other before the control unit 160 generates the control command signal. That is, when the object 200 is recognized as a specific object 200 to be controlled by the Lidia system 100, the Lidia system 100 can be controlled.

First, the distance d from the laser system 100 to the object 200 is measured by irradiating the object 200 with light emitted from the center laser 120. (S1)

The control unit 160 compares the light emitted from the center laser 120 with the light reflected from the target 200 and incident on the center detector 122 to measure the distance d to the target 200 . As described above, in some embodiments, the central laser 120 may be a laser that emits intensity-modulated pulsed light. It is possible to precisely measure the distance from the point of time when the laser light is irradiated by the modulated pulse light to the point of time when the light is reflected by the object 200 and received by the center detector 122 . The time difference can be calculated from the phase shift of the irradiated received light and the modulated frequency of the laser light.

The control unit 160 adjusts the first angle? 1 of the first peripheral laser 130 in consideration of the size of the object 200 and the distance to the object 200. In step S2,

In some embodiments, the first angle? 1 may be adjusted so that the object 200 is in contact with the first rotation scan line SL1 to be formed by the first peripheral laser 130.

Then, the control unit 160 determines the position of the target object 200 while rotating the first peripheral laser 130 (S3) (S4)

The control unit 160 may rotate the first peripheral laser 130 by rotating the rotation motor 151. [ The rotation motor 151 may be rotating before the rotation command of the controller 160.

The rotation position of the first peripheral laser 130 can be secured by the encoder 153 and the presence or absence of the object 200 can be determined for each position and the position of the object 200 can be determined.

Then, the control unit 160 determines whether or not the position of the object 200 is within the tolerance range. (S5) When the position of the object 200 is within the tolerance range, for example, It is possible not to transmit the position control command to the object 200 when it is located in the inner area of the first rotation scan line SL1.

When the position of the object 200 is out of the tolerance range, the controller 160 sets the position of the object 200, for example, to the position of the inner area of the first rotation scan line SL1, . (S6)

Then, the control unit 160 transmits the generated control command to the object 200 through the communication unit 170. [ (S7)

The object 200 may receive the control command and change its position. When the position of the object 200 is changed, the controller 160 may repeat the step S1 of measuring the distance to the object 200. [

With such an operation, the object 200 can be moved into the area irradiated with light by the ladder system 100, and when the ladder system 100 moves the irradiated area, The object 200 can move.

5 is a view schematically showing a configuration of a body 110 including an angle adjuster 113 according to an embodiment of the present invention.

The body 110 includes a cylindrical rod 113 and a tubular cylinder 113a moving upward and downward along the rod 111. The body 110 has a first support bar 113b hinged to the cylinder 113a, And a second support bar 113c connected to the rod 111 by a hinge at one side and hinged to the first support bar 113b at the other side. Here, the cylinder 113a, the first support bar 113b, and the second support bar 113c can be operated as the angle adjuster 113. [ The angle adjuster 113 may further include a driving module 113d for electrically driving the cylinder 113a inside the rod 111. [ A center laser 120 and a center detector 122 may be disposed on the upper surface of the rod 111.

The first support bar 113b and the second support bar 113c are in the form of bar, rod or bar and have a certain length. The cylinder 113a, the first support bar 113b, and the second support bar 113c are connected to each other by a hinge so that they can rotate at the connection point.

The inside of the cylinder 113a is hollow and the rod 111 is disposed inside the cylinder 113a. The cylinder 113a can move up and down along the longitudinal direction of the rod 111. [ The angle of the first support bar 113b and the second support bar 113c connected to the cylinder 113a and the rod 111 can be changed as the cylinder 113a moves up and down along the rod 111 have. Accordingly, the angle formed by the center axis CA and the second support bar 113c can be adjusted. The first peripheral laser 130 and the first peripheral detector 132 are mounted on the second supporting bar 113c and the longitudinal direction of the second supporting bar 113c and the optical axis LA1 of the first peripheral laser 130, Can be arranged side by side. Therefore, moving the cylinder 113a in the longitudinal direction of the rod 111 may mean adjusting the first angle? 1.

6A is a view schematically showing a configuration of a body 110 including an angle adjuster 113 according to another embodiment of the present invention.

The body 110 includes a cylindrical rod 111, a pair of elastic means 113e connected to the upper portion of the rod 111, a pair of hinges connected to the lower portion of the rod 111, And a second support bar 113c hingedly connected to the second support bar 113e. Here, the expansion and contraction means 113e and the second support bar 113c can act as the angle adjuster 113. Here, one side of the expansion and contraction means 113e can be fixed to the rod 111 by a fixing means other than a hinge connection.

When the length of the stretching and contracting means 113e is changed, the angle between the central axis CA and the second supporting bar 113c is changed, thereby adjusting the first angle? 1. Various constructions can be applied to the stretching means 113e.

Fig. 6B illustrates that the expanding and contracting means 113e is an electric cylinder.

6B, the electric cylinder includes a tubular first cylinder 311 having a predetermined length, a driving motor 312 mounted on one side of the first cylinder 311 and electrically driven, A gear portion 313 provided on the rotating shaft of the motor 312 and adapted to transmit a rotational force through a rotating shaft in an axial rotational force; a gear portion 313 inserted into the hollow portion of the first cylinder 311 and connected to the gear portion 313 And a cylinder rod 314 linearly moved in the axial direction of the first cylinder 311 by the rotational force of the gear portion 313.

In this case, when the drive motor 312 rotates in the forward or reverse direction, the rotational force is transferred to the cylinder rod 314 through the gear portion 313 connected to the drive motor 312, so that the cylinder rod 314 is moved to the first cylinder 311 (See arrows) in the axial direction of the main body (not shown), thereby adjusting the overall length thereof.

In the present invention, the angle adjuster 113 is not limited to the exemplary structures shown in FIGS. 5 to 6B. If the structure of the angle adjuster 113 is such that the direction of the optical axis LA1 of the first peripheral laser 130 can be changed, This is possible.

Figure 7 is a schematic representation of a ladder system 100 'in accordance with another embodiment of the present invention.

The lidar system 100 'may include a plurality of peripheral lasers 130 and 140. The first peripheral laser 130 may have a first optical axis LA1 tilted with a first angle? 1 with respect to the central axis CA. The second peripheral laser 140 may have a second optical axis LA2 inclined at a second angle? 2 with respect to the central axis CA.

The second peripheral laser 140 emits light in a direction tilted at a second angle? 2 with respect to the central axis CA and the second peripheral laser 140 emits light in a direction inclined with respect to the central axis CA It can rotate 360 degrees. Accordingly, the second peripheral laser 140 can form the second rotation scan line S2 in the vicinity of the position where the object 200 exists. The second rotation scan line S2 may be substantially circular. The position of the object 200 can be determined by scanning along the second rotation scan line S2.

The second angle? 2 may be set smaller than the first angle? 1. The fact that the second angle? 2 is smaller than the first angle? 1 means that the second rotation scan line S2 formed by the second peripheral laser 140 is included in the inner region of the first rotation scan line SL1 It can mean. The position of the object 200 existing in the inner area of the first rotation scan line SL1 can be more accurately grasped by the second rotation scan line S2.

The lidar systems 100 and 100 'may further include a third peripheral laser having a third optical axis LA3 tilted at a third angle? 3 with respect to the central axis CA. The third angle? 3 may be larger than the first angle? 1. The fact that the third angle? 3 is larger than the first angle? 1 can mean that the position of the object 200 existing in the outer region of the first rotation scan line SL1 can be grasped more precisely.

By more precisely grasping the position of the object 200, the position control of the object 200 can be made more precise. The position adjustment of the object 200 is as described with reference to Fig.

By such positional control, the object 200 can be moved into the area irradiated with light by the lidar system 100, and when the ladar system 100 moves the irradiated area, Therefore, the object 200 can move.

Although the lidar systems 100 and 100 'according to the embodiments of the present invention have been described with reference to the embodiments shown in the drawings in order to facilitate understanding, it is to be understood that those skilled in the art It will be understood that various modifications and equivalent embodiments are possible.

100, 100 ': Raidasystem
110: Body
111: Load
113: Angle adjuster
113a: cylinder
113d: drive module
113b: first support bar
113c: second support bar
120: central laser
122: detector
130: first peripheral laser
132: first ambient detector
140: Second peripheral laser
142: second ambient detector
150:
151: Rotary motor
153: Encoder
160:
170:
180: Housing
200: object

Claims (15)

A lidar system for manipulating a position of a target object,
A body including a central portion having a central axis extending in a first direction and a peripheral portion disposed about the central portion;
A central laser disposed in the central portion and emitting light in a direction substantially parallel to the central axis;
A center detector disposed adjacent to the center laser for receiving light incident from the outside and converting the received light into an electrical signal;
A first peripheral laser disposed in the peripheral portion and emitting light in a direction inclined at a first angle with respect to the central axis;
A first ambient detector disposed adjacent to the first peripheral laser for receiving light from an external source and converting the received light into an electrical signal;
A rotating unit rotating the first peripheral laser with respect to the central axis;
A controller for setting a position of the object based on the signal converted by at least one of the center detector and the first peripheral detector; And
And a communication unit for transmitting the position setting value of the control unit to the object. The method according to claim 1,
A second peripheral laser disposed in the peripheral portion and emitting light in a direction inclined at a second angle with respect to the central axis; And
And a second ambient detector disposed adjacent to the second peripheral laser for receiving light from an external source and converting the received light into an electric signal,
Wherein the second angle is less than the first angle. The method according to claim 1,
Wherein the first angle is adjusted in conjunction with a distance from the ladder system to the object and a size of the object. The method according to claim 1,
Wherein the body comprises a rod supporting the central laser and an angle adjuster disposed on the rod side and supporting the first peripheral laser and adjusting the first angle. 5. The method of claim 4,
Wherein the angle adjuster comprises:
A tubular cylinder moving in the longitudinal direction of the rod;
A first support bar having one side connected to the cylinder by a hinge; And
And a second support bar hingedly connected to the rod at one side and hinged to the first support bar at the other side. 5. The method of claim 4,
Wherein the angle adjuster comprises:
Retracting means having one side connected to the upper portion of the rod; And
And a support bar hingedly connected to a lower portion of the rod at one side and a hinge at the other side of the rod. The method according to claim 1,
The rotation unit includes:
An encoder for measuring a rotation angle of the first peripheral laser about the central axis; And
And a rotation motor for rotating the peripheral portion around the central axis. The method according to claim 1,
Wherein the controller measures a distance to the target object by comparing the light emitted from the center laser with the light reflected by the target and incident on the center detector. The method according to claim 1,
The control unit
Measuring a distance to the object;
Adjusting the first angle;
Determining a position of the object by rotating the first peripheral laser; And
Setting a position of the object; Lt; / RTI > system. In a lidar system that manages unmanned aerial vehicles,
A central laser for measuring a distance from the lidar system to the unmanned air vehicle and a center detector disposed adjacent to the central laser;
At least one peripheral laser having an optical axis that is tilted with respect to an optical axis of the central laser, at least one peripheral laser rotating about the central laser, and at least one peripheral detector disposed adjacent to the at least one peripheral laser; And
And a control unit for determining a current position of the unmanned air vehicle by the detection signal of at least one of the center detector and the peripheral detector and setting the next position of the unmanned air vehicle. 11. The method of claim 10,
Wherein the next position of the unmanned aerial vehicle is set to an inner area of a rotation scan line formed by rotation of the at least one peripheral laser. 11. The method of claim 10,
And a communication unit for transmitting the next position of the unmanned air vehicle to the unmanned air vehicle. 11. The method of claim 10,
And an angle adjuster for adjusting the degree to which the optical axis of the at least one peripheral laser is tilted with respect to the optical axis of the central laser. 11. The method of claim 10,
Wherein the control unit measures the distance to the unmanned air vehicle by comparing the light emitted from the central laser and the light reflected by the target and incident on the center detector. 11. The method of claim 10,
And a rotation unit for rotating the at least one peripheral laser.

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