KR101293198B1 - a 3D range finder - Google Patents

Abstract

The present invention relates to a three-dimensional range finder, the three-dimensional range finder according to the invention is a light emitting unit for emitting incident light, a light receiving unit for detecting the reflected light, the incident light is reflected to the measurement space and reflected from an object in the measurement space Distance information is obtained from a reflection mirror unit for reflecting the reflected light to be incident to the light receiving unit, a motor unit for rotating the reflection mirror unit, an encoder unit for calculating a rotation angle of the disk plate installed in the motor unit, and a signal detected by the light receiving unit. And a control unit for acquiring a rotation angle from the encoder unit and storing the rotation angle in a frame unit, wherein the reflecting mirror unit includes a plurality of reflecting plates at edges formed with through-holes of the disk plate, and each reflecting plate has an X axis and Incident light having different inclination angles in the Y-axis direction and reflected through the respective reflecting plates Yirumyeonseo the grid is characterized in that the reflection.

Description

3D range finder {a 3D range finder}

The present invention relates to a three-dimensional range finder, and relates to a three-dimensional range finder that can determine the shape of an object in a three-dimensional form by measuring the distance between the object and the measurer.

Autonomous driving such as driverless cars, artificial intelligence robots, and driverless cleaners is required, or distance measuring instruments (or shape scanners) that can grasp shapes of adjacent objects in the process of performing a shape modeling operation are used.

Such a distance measurer is classified into a non-contact type using a contact sensor or using a light beam such as a laser, and a non-contact type which shortens the measurement time is used.

1 is a conceptual perspective view showing a conventional 2D range finder, Figure 2 is a conceptual diagram illustrating the principle of distance measurement using a conventional 2D range finder.

As shown in FIG. 1, the 2D range finder includes a distance measuring unit 1 having a light emitting unit for emitting incident light such as a laser beam 2 and a light receiving unit for detecting the incident reflected light, and a light emitting unit emitting the light from the light emitting unit. A reflecting plate 3 for reflecting the reflected light into the measuring space and reflecting the reflected light reflected from an object in the measuring space to be incident on the light receiving unit, a motor 4 for rotating the reflecting plate, and a disk plate 6 provided in the motor. And an encoder (5) for calculating a rotation angle of the sensor and a controller (7) for obtaining distance information from the signal sensed by the light receiving unit, and obtaining and storing the rotation angle from the encoder unit in units of frames.

As shown in FIG. 2, the 2D range finder of the structure has the data on the Z-axis (the target object 10) through the distance measuring unit 1-the time (or wavelength change) at which the light emitted from the light emitting unit is incident to the light receiving unit. ), And collect data on the X-axis through the angle at which the light beam is emitted.

Conventional three-dimensional range finder collects the three-dimensional data by installing a drive unit that can move the 2D range finder in the Y-axis direction, the three-dimensional range finder is a data that can be obtained by several 2D range finder Can be obtained at once.

However, such a conventional three-dimensional range finder takes a long measurement time because it collects three-dimensional data through the operation of the drive unit, it is difficult to efficiently measure the distance due to the slow response speed when mounted on a moving object (especially a car), There is a disadvantage that the manufacturing cost is expensive.

An object of the present invention is to provide a three-dimensional range finder capable of measuring a three-dimensional distance in a short time, can be used for dynamic objects (particularly automobiles), and can obtain various types of data.

Another object of the present invention to provide a three-dimensional range finder that can reduce the manufacturing cost.

According to an embodiment of the present invention, a three-dimensional range finder includes a light emitter that emits incident light, a light receiver that senses reflected light, and a reflection mirror that reflects the incident light into a measurement space and reflects the reflected light reflected from an object in the measurement space into the light receiver. And distance information from a signal detected by the light receiving unit, an encoder unit for calculating a rotation angle of the disk plate installed in the motor unit, a motor unit for rotating the reflective mirror unit, and a rotation angle from the encoder unit. And a control unit for storing the frame unit, wherein the reflecting mirror unit is provided with a plurality of reflecting plates at edges formed with through-holes of the disk plate, and each reflecting plate has different inclination angles in X and Y axis directions, respectively. The incident light reflected through the reflecting plate of the light reflects in the form of a lattice .

The incident light reflected through each of the reflecting plates is reflected while forming a lattice.

Here, the reflector is characterized in that the adjusting means for adjusting the fine angle in the X-axis and Y-axis direction.

The three-dimensional range finder according to the present invention can measure a three-dimensional shape by maintaining a state of the inclined inclined in the X-axis and Y-axis direction of the plurality of reflecting plates installed on the edge of the disk plate rotated through the motor as one drive unit Therefore, it is possible to obtain three-dimensional data in a short time can be used for a dynamic object, there is an advantage that can be produced at a lower price than the conventional three-dimensional range finder.

1 is a conceptual perspective view showing a conventional 2D range finder.
2 is a conceptual diagram illustrating a distance measuring principle using a conventional 2D range finder.
3 is a conceptual cross-sectional view showing a three-dimensional range finder according to an embodiment of the present invention.
4 is a plan view showing a disk plate and a reflective mirror according to an embodiment of the present invention.
5 is a conceptual diagram illustrating a distance measurement principle using a three-dimensional range finder according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention.

3 is a conceptual cross-sectional view showing a three-dimensional range finder according to an embodiment of the present invention.

As shown in FIG. 3, the three-dimensional range finder includes a light emitter 110 that emits incident light, a light receiver 120 that detects reflected light, and reflects the incident light into a measurement space, In the reflector mirror for reflecting the reflected reflected light to be incident to the light receiving unit, the motor unit for rotating the reflecting mirror unit, the encoder unit 150 for calculating the rotation angle of the disk plate 142 provided in the motor unit and the light receiving unit It is similar to a conventional two-dimensional range finder that includes a control unit that obtains distance information from the detected signal and obtains a rotation angle from the encoder and stores the frame in units of frames.

The main feature of the three-dimensional range finder according to the present invention is that as shown in Figure 3, the reflecting mirror is composed of a plurality of reflecting plate 132 is installed on the edge of the disk plate 142, each reflecting plate 132 Have different tilt angles in the X- and Y-axis directions.

4 is a plan view illustrating a disk plate and a reflecting mirror unit according to an exemplary embodiment of the present invention.

As shown in FIG. 4, a plurality of reflecting plates 132, 132a, 132b, 132c, and 132d are provided at the edge of the disk plate 142, and each reflecting plate is installed at different installation angles of the X and Y axes.

However, when the center of each reflecting plate reaches the measurement position, the distance between the light incident part and the light emitting part and the center of the reflecting plate should be kept constant.

In addition, through-holes 142a are formed in the disc plates 142 provided with the respective reflecting plates so that the encoder part can check the position of each reflecting plate while the disc plates are rotated through the motor.

Specifically, when the disk plate 142 is rotated and the reflecting plate 132 reaches the position where the light emitting part and the light receiving part are installed, the reflecting plate 132 reflects the light emitted from the light emitting part into the measuring space and is separated from the object in the measuring space. The reflected reflected light is reflected by the light receiving portion.

When the next reflecting plate 132a reaches the position where the light emitting unit and the light receiving unit are installed, the above process is repeated, and each reflecting plate stores the rotation angle information by the encoder unit.

4 illustrates a case in which 25 reflecting plates are installed at a predetermined angle, and the number and mounting angles of the reflecting plates may be changed according to the object to be measured and the precision.

Specifically, when the through hole 142a is recognized by the encoder unit, the light emitting unit emits light to start data collection.

If 1000 data can be collected per second through the light emitting unit and the light receiving unit, and the motor rotates the disk plate provided with 100 reflecting plates 50 times per second, 20 distance values are measured per disk rotation and the reflecting plate Five rotations are required to acquire data as many as.

And if 100 reflectors are installed, 100 through-holes are also installed on the disk board. When 1, 6, 11, 16, 21, .... 2, 7, 12, 17, 22, .... The distance of the 97th reflector is measured. By completing this process up to five revolutions, you can get data for all 100 reflectors.

5 is a conceptual diagram illustrating a distance measuring principle using a three-dimensional range finder according to an embodiment of the present invention.

As shown in FIG. 5, the light reflected through each reflecting plate is a case in which the X-axis mounting angle and the Y-axis mounting angle of the reflecting plate are divided at intervals of 5 degrees, and the incident light reflected through each reflecting plate has a lattice form. Is reflected.

Here, the reflector may be provided with an adjustment means for adjusting the fine angle in the X-axis and Y-axis direction.

When adjusting the installation angle of the reflector at intervals of 5 degrees as shown in FIG. 5, if it is determined that the measurement space cannot be measured in detail, the user may change the installation angle of the reflector to within 5 degrees.

Such adjustment means may be provided with a fine adjustment bolt that can be rotated in the X-axis and Y-axis direction in the fixture for fixing the reflecting plate to the disk plate, or can adjust the installation angle of the mounting plate through a separate gear device.

Through such adjusting means, various types of data can be obtained.

As described above, the present invention has a main technical idea to provide a three-dimensional distance meter, and the embodiment described above with reference to the drawings is only one embodiment, so the true scope of the present invention is determined by the claims. Should be.

110:
120: light receiver
132: reflector
140: motor unit
142: disk
142a: through hole
150: encoder section

Claims (3)

A light emitting unit for emitting incident light;
A light receiving unit detecting reflected light;
A reflection mirror unit for reflecting the incident light into a measurement space and reflecting the reflected light reflected from an object in the measurement space to be incident on the light receiving unit;
A motor unit for rotating the reflection mirror unit;
An encoder unit for calculating a rotation angle of the disk plate provided in the motor unit;
And a controller configured to obtain distance information from the signal detected by the light receiver, and to obtain a rotation angle from the encoder and store the frame in units of frames.
The reflection mirror unit,
A plurality of reflecting plates are installed at the edges of the disk plate through-holes, and each reflecting plate has different inclination angles in the X-axis and Y-axis directions, so that incident light reflected through the reflecting plates is reflected in a lattice form. Three-dimensional range finder.
delete The method of claim 1,
The reflector includes:
3D distance measurer, characterized in that the adjustment means for adjusting the fine angle in the X-axis and Y-axis direction.

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