KR101830109B1 - The apparatus of visible light communications for automatic driving object indoor - Google Patents

Abstract

A visible light communication indoor self-driving device based on a solid state imaging device comprises: a data transmitting part (100), a data receiving part (200), a visible light transmitting module (300) of smart LED ceiling lamp type, a visible light receiving module (400) of indoor self-driving object type, a smart control module (500). The object of the present invention is to provide a visible light communication indoor self-driving device based on a solid state imaging device for activating an indoor self-driving navigation market.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a self-

In the present invention, an LED ceiling light is emitted, a visible light LED ID data communication signal including positional information of a desired positioning point and multi-information is radiated together, and is received through a terminal having a solid-state image sensor (camera image sensor) The present invention relates to an autonomous navigation system for a visible light communication system based on a solid-state image sensor capable of controlling movement of an indoor autonomous traveling object located in an LED ceiling or the like in a visible light receiving sector zone through visible light communication.

Indoor travel objects (eg, robots, forklifts) operating in an indoor environment have difficulty in location estimation due to restrictions on receipt of GPS signals.

It acts as a constraint on the path planning to get to the target point starting from the current position.

To solve these problems, methods based on radio frequency (RF) and images have been proposed.

However, it is difficult to obtain precise position information of mm based on RF interference due to signal interference and disturbance.

In addition, the image-based indoor traveling objects have high precision but high processing ability and high cost.

In addition, when a plurality of indoor traveling objects are located in a specific space, neighboring indoor traveling objects collide with each other and interfere with traveling, thereby failing to properly perform specific command events, and the indoor autonomous traveling market is gradually shrunk.

Korean Patent Publication No. 10-2012-0080055

In order to solve the above problems, in the present invention, an LED ceiling light is emitted, and a visible light LED ID data communication signal including position information of a desired positioning point and multi-information is radiated together to form an LED ceiling light and a visible light receiving sector zone It is possible to improve the prevention of a collision accident even if a plurality of indoor autonomous traveling objects are constituted. In addition, it is possible to improve the indoor autonomous traveling object in which the indoor autonomous traveling object type visible light receiving module And it is an object of the present invention to provide an autonomous traveling device for a visible light communication indoor unit based on a solid-state image pickup device which can perform visible light communication in real time even when moving, not in a stationary state, .

According to an aspect of the present invention, there is provided an autonomous navigation apparatus for visible light communication in a solid-state imaging device,

LED ceiling light is emitted and the visible light ID information data including the location information of the desired positioning point and the multi information is emitted together and the positional information and the multi information of the indoor autonomous traveling object located at a distance of 1m ~ Information is communicated in visible light in a 1: 1 target manner.

More specifically,

A data transmission unit 100 for ASK-modulating the visible light LED ID data received from the smart control module and transmitting the data to the data receiving unit connected with the hybrid type smart LED lamp through the 220V data supplied from the power source,

Receiving the AC 220V ASK modulated signal transmitted through the data, restoring the visible light LED ID data included in the AC 220V ASK modulated signal, and then connecting the recovered visible light LED ID data to the AC 220V power source and the smart LED ceiling light Type visible light transmission module,

A smart LED that is connected to the data receiving unit and is located inside the LED ceiling or the like and receives the visible light LED ID data from the data receiving unit and emits the signal light including the visible light LED ID data to the surrounding self- A ceiling light type visible light transmission module 300,

When the LED ceiling or the like is located in the visible light receiving sector zone, the visible light ID data communication signal transmitted through the visible light transmitting module of the LED ceiling light is received and demodulated, An indoor autonomous traveling object type visible light receiving module 400 for displaying the position information and the multi information contained in the visible light LED ID data communication signal on the screen while moving the indoor autonomous traveling object by restoring to the LED ID data communication signal,

The data transmission unit is connected to a plurality of data transmission units located in a grouped zone in a state where the data transmission units are grouped by location and space so that position information of the positioning point and multi information And a smart control module 500 for setting a unique visible light LED ID data communication signal including control information, direction and speed control information, and object loading and ejection information.

As described above, in the present invention,

First, the LED ceiling light is emitted. At the same time, the visible light LED ID data communication signal including the position information of the desired positioning point and the multi-information is radiated together so that the indoor autonomous traveling object located in the LED ceiling and the visible light receiving sector zone can be visibly transmitted So that the traveling rate and the specific command execution rate can be improved by 80%.

Second, even if a plurality of indoor autonomous traveling objects are constructed, the collision avoidance can be improved by 70% through the obstacle detection and avoidance modes.

Third, only the indoor autonomous moving object type visible light receiving module can be installed in the existing indoor autonomous traveling object in a detachable manner, so that the installation cost and installation time can be reduced by 70%.

Fourth, it is possible to provide a visible light data capacity of 30 bits to 120 bits and a fast transmission speed of 50 kbps to 300 kbps while varying the wide frequency range from 1 kHz to 10 MHz through the pixel parallel resolution unit and the electronically controlled shutter unit, It is possible to perform visible light communication in real time even on the move, thereby enabling the indoor self-running market to be activated.

Fig. 1 is a configuration diagram showing components of an autonomous travel apparatus 1 for visible light communication based on a solid-state image pickup device according to the present invention,
FIG. 2 is a perspective view showing the constituent elements of the autonomous travel apparatus 1 for visible light communication based on the solid-state image pickup device according to the present invention,
3 is a block diagram illustrating components of a data transmission unit according to the present invention.
4 is a block diagram illustrating components of a data receiving unit according to the present invention.
FIG. 5 is a block diagram illustrating components of a smart LED ceiling light transmission module according to the present invention;
Figure 6 is a block diagram illustrating the components of a smart LED data control module in accordance with the present invention;
FIG. 7 is a block diagram illustrating components of an indoor autonomous moving object type visible light receiving module according to the present invention.
78 is a block diagram showing components of a solid-state imaging device according to the present invention,
9 is a block diagram showing the components of the pixel parallel resolution unit according to the present invention,
10 is a diagram illustrating a pixel parallel resolution structure according to an embodiment of the present invention in which visible light signal data extracted through a visible light signal modeling control unit is formed into a pixel parallel structure through a vertical scanner having a plurality of capacitors and a horizontal scanner In one embodiment that illustrates fast resolution to 16 bits,
FIG. 11 is a graph showing the relationship between the pixel parallel structure data and the pixel parallel structure data of the electronically controlled shutter unit according to the present invention, in which the horizontal row structure is set to the x axis and the vertical column structure is set to the y axis, A plurality of unit cells are formed in the first row / column direction of the upper part, and a "0" signal is blackened in the pixel parallel structure data in the unit cell, and "0" and "1" One embodiment showing that the pixel parallel structure data is read and reset in the direction from the x-axis upper end portion to the y-axis lower end portion while converting into the continuous cell alternating streaming in one row / column direction is also performed,
12 is a view illustrating an operation process of an autonomous travel apparatus in a visible light communication indoor based on a solid-state image pickup device according to an embodiment of the present invention.

First, Visible Light Communication (VLC) described in the present invention is a communication using a visible light region visible to the human eye and uses information such as an incandescent lamp and a fluorescent lamp to be replaced with a light emitting diode (LED) Which is a new information and communication technology that transmits and reuses information.

The LED is capable of blinking at a high speed, and the visible light element can be turned on and off at a speed not felt by the human eye, and data can be transmitted.

The basic concept of the visible light communication technology is the same as digital communication in that data is converted into a combination of 0 and 1 to transmit information, but light is turned off when data is' 0 'and light is turned on when data is' It is replaced with a contrast depending on blinking or brightness and transmitted.

Further, visible light corresponds to a wavelength of 380 nm at 780 nm, and when a wavelength used for visible light wireless communication is changed to a frequency, it corresponds to 789 THz at 385 THz, and the audible frequency band corresponds to 20,000 Hz at 20 Hz.

Visible light wireless communication uses the wavelength most similar to IrDA using 870-900 nm, but it is characterized by being able to communicate simultaneously with illumination.

In the present invention, such a visible light wireless communication is applied to an LED ceiling or the like to emit an LED ceiling light and generate and emit visible light LED ID data communication signals including desired location information and multi-information .

In addition, the indoor autonomous traveling object described in the present invention is located in a room, receives visible light LED ID data communication signals including position information and multi-information through visible light communication, moves to a specific position, A forklift, and a robot.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing components of an autonomous travel apparatus 1 for a visible light communication based on a solid-state image pickup device according to the present invention. FIG. 2 is a block diagram of a self- 1), which emits an LED ceiling light and emits a visible light LED ID data communication signal including position information of a desired positioning point and multi-information, and transmits the LED ceiling light and visible light And controls movement of the indoor autonomous traveling object located in the received sector zone through visible light communication.

More specifically, the solid-state imaging device-based visible light communication indoor self-traveling device 1 includes a data transmission unit 100, a data reception unit 200, a visible LED ceiling light type visible light transmission module 300, an indoor self- A receiving module 400, and a smart control module 500.

First, a data transmission unit 100 according to the present invention will be described.

The data transmitter 100 transmits the visible light LED ID data received from the smart control module to a data receiving unit through which the hybrid type smart LED lamp is connected through a wired / wireless communication network.

As the wireless communication module, a transmitting Bluetooth communication module 110, a transmitting Zigbee communication module 120, and a sending WiFi communication module 130 are constituted. As a wired communication module, BACNET TCP / IP, BACNET MS / TP, Modbus RTU is selected and configured.

The transmitting Bluetooth communication module 110 performs low power wireless connection and exchanges information at an extremely short distance within 10 meters.

It uses the Industrial Scientific and Medical (ISM) frequency band of 2400 to 2483.5 MHz. In order to prevent the interference of other systems that use the upper and lower frequencies, we use a total of 79 channels, ranging from 2400MHz to 2MHz and 2483.5MHz to 3.5MHz, except 2402 ~ 2480MHz.

In addition, in order to eliminate interference between systems, a frequency hopping scheme is used.

Frequency hopping is a technique for rapidly moving a large number of channels according to a specific pattern and transmitting packets (data) little by little. In the present invention, 79 channels are configured to hop 1600 times per second.

The transmitting Zigbee communication module 120 provides a data rate of 250 kbps toward a smart device located near (10 m to 75 m) using the frequency band of 2.4 GHz.

The transmitting WiFi communication module 130 is composed of a wireless LAN technology that enables high performance wireless communication.

The wireless LAN uses a frequency band of 2.4 GHz, which is a method of building a network using radio wave or light without using a wire when constructing a network.

Next, the data receiving unit 200 according to the present invention will be described.

The data receiving unit 200 transmits the visible light LED ID data transmitted through the wired / wireless communication network to the smart LED ceiling light type visible light transmission module.

The Bluetooth communication module 210, the receiving Zigbee communication module 220 and the receiving WiFi communication module 230 are constituted as a wireless communication module and the BACNET TCP / IP, BACNET MS / TP, Modbus RTU is selected and configured.

The receiving Bluetooth communication module 210 performs low power wireless connection at a very short distance within 10 meters to exchange information.

It uses the Industrial Scientific and Medical (ISM) frequency band of 2400 to 2483.5 MHz. In order to prevent the interference of other systems that use the upper and lower frequencies, we use a total of 79 channels, ranging from 2400MHz to 2MHz and 2483.5MHz to 3.5MHz, except 2402 ~ 2480MHz.

In addition, in order to eliminate interference between systems, a frequency hopping scheme is used.

Frequency hopping is a technique for rapidly moving a large number of channels according to a specific pattern and transmitting packets (data) little by little. In the present invention, 79 channels are configured to hop 1600 times per second.

The receiving Zigbee communication module 220 functions to provide a data rate of 250 kbps toward a smart device located near (10 m to 75 m) using the frequency band of 2.4 GHz.

The receiving WiFi communication module 230 is composed of a wireless LAN technology that enables high performance wireless communication.

The wireless LAN uses a frequency band of 2.4 GHz, which is a method of building a network using radio wave or light without using a wire when constructing a network.

Next, the smart LED ceiling light visible light transmission module 300 according to the present invention will be described.

The smart LED ceiling light type visible light transmission module 300 is connected to a data reception unit and is located inside an LED ceiling or the like and receives visible light LED ID data from a data reception unit and receives visible light LED ID data using an LED light source, Modulates the signal light and radiates it to the surrounding autonomous traveling object.

As shown in FIG. 5, the LED lamp 300 includes a lamp body 310, a power supply unit 320, a rectifier circuit unit 330, an LED ceiling lamp 340, and a smart LED data control module 350.

First, the lamp body 310 according to the present invention will be described.

The lamp body 310 protects and supports each device from external pressure.

Second, the power supply unit 320 according to the present invention will be described.

The power supply unit 320 receives AC 220V power through the power line unit connected to one side of the lamp body, and supplies power to each device.

It consists of a constant voltage regulator IC.

The constant-voltage regulator IC converts the input voltage into a constant voltage suitable for each device.

Third, the rectifying circuit unit 330 according to the present invention will be described.

The rectifying circuit part 330 rectifies the AC 220V input from the power supply part and outputs a rectified voltage.

Fourth, the LED ceiling lamp 340 according to the present invention will be described.

The LED ceiling light 340 is driven according to a control signal of the smart LED data control module to emit LED light.

Fifth, the smart LED data control module 350 according to the present invention will be described.

The smart LED data control module 350 detects the change of the detection current according to the rectified voltage as a detection voltage and controls the light emission of the LED ceiling according to the current rectified voltage state and outputs visible light LED ID data, In the case of ceiling light emission, the LED ID data is converted to visible light LED ID data by using on-off keying (OOK) modulation, subcarrier phase shift keying (SC-PSK), subcarrier phase shift keying (SC-BPSK) -PPM modulation, Chirp SS (Spread Spectrum) modulation, and DS-SS (Direct Sequence-Spread Spectrum) modulation.

6, an on-off keying (OOK) modulating unit 351, a subcarrier frequency shift keying (SC-FSK) unit 352, a subcarrier phase shift keying (SC- A subcarrier phase shift keying (SC-BPSK) unit 354, a variable-PPM modulating unit 355, a Chirp SS (Spread Spectrum) modulating unit 356, a Direct Sequence- Spread Spectrum) modulation unit 357 is selected and configured.

The on-off keying (OOK) modulator 351 performs on-off keying (OOK) modulation by multiplying a unipolar spreading code signal through a predetermined switching circuit by a carrier having a specific frequency band.

Here, the unipolar spreading code has a Zero Corelation Duration (ZCD) characteristic in which the cross-correlation characteristic between codes is one point orthogonal to the point where the cross-correlation characteristic is "0" or continuously cross-correlation characteristic is "0" Quot; 0 "characteristic of the cross-correlation characteristic continuously over a predetermined time interval.

The subcarrier frequency shift keying (SC-FSK) unit 352 serves to transmit a visible light LED ID data communication signal by changing the frequency of a subcarrier.

The Subcarrier Phase Shift Keying (SC-PSK) unit 353 modulates the phase of the subcarrier to transmit the visible light LED ID data communication signal.

The subcarrier binary phase-shift keying (SC-BPSK) unit 354 performs phase modulation of the visible light LED ID data communication signal with a subcarrier and intensity-modulates the optical carrier.

This modulates the optical power corresponding to the phase modulation method after the optical power conversion to the receiving side.

The Variable-PPM modulator 355 serves as a modulation in which the 2-PPM modulation and the PWM modulation are configured in a hybrid manner.

The 2-PPM modulation serves to express bits "0" and "1" according to the position of the pulse.

The PWM modulation controls the brightness of the light source by changing the width of the pulse.

The Chirp SS (Spread Spectrum) modulator 356 performs modulation of spread spectrum communication using fixed coding without consideration of multiple access.

This is a simple structure, but has good performance in a channel environment where noise or attenuation is severe.

The DS-SS (Direct Sequence-Spread Spectrum) modulator 357 multiplies the spread code directly to the visible light LED ID data communication signal to obtain a spread signal and perform modulation.

This has a good effect on noise and jamming.

Next, the indoor autonomous traveling object type visible light receiving module 400 according to the present invention will be described.

The indoor autonomous traveling object type visible light receiving module 400 is modularly installed in the indoor autonomous traveling object in a detachable manner and is installed in an LED ceiling and a visible light receiving sector zone and is transmitted through an LED ceiling light type visible light transmitting module Receiving the visible light ID data communication signal, demodulating and restoring the visible light LED ID data communication signal to move and control the indoor self-traveling object, and displaying the position information and the multi-information included in the visible light LED ID data communication signal on the screen It plays a role.

7, the solid-state image pickup device 410, the distortion correction unit 420, the visible light signal modeling control unit 430, the pixel parallel resolution unit 440, the electronically controlled shutter unit 450, And an object control unit 460.

First, the solid-state image pickup device 410 according to the present invention will be described.

The solid-state image pickup device 410 receives the signal light including the visible light LED ID data transmitted through the visible light transmission module of the LED signal light type, and converts the received signal light into a visible light image.

This is a camera image sensor, which is composed of an image lens unit 411, an IR cut filter unit 412, and an image sensor unit 413, as shown in Fig.

The image lens unit 411 serves to transmit an image of a subject.

The IR cut filter unit 412 blocks external infrared light during image capturing.

The image sensor unit 413 converts an image into an electrical signal.

This is accomplished by selecting either a CCD device or a CMOS device.

Second, the distortion correction unit 420 according to the present invention will be described.

The distortion correction unit 420 receives the visible light image photographed by the solid state image sensor and corrects distortion of the image.

This estimates a distortion model of the solid-state image pickup device by searching an external parameter composed of internal parameters including the lens focal length of the solid-state image pickup device, the position of the object to be picked up, and rotation and position information from the calibration pattern.

Subsequently, the corner points are again extracted from the model of the estimated solid-state imaging element and verified,

Finally, the distortion of the image is corrected using the model of the verified solid-state image sensor.

Third, the visible light signal modeling controller 430 according to the present invention will be described.

The visible light signal modeling controller 430 divides the image object and the visible light signal from the distortion-corrected visible light image through the distortion correction unit, and then removes the image object and extracts only the visible light signal.

If the visible light signal and the image object are overlapped with each other, only the image object is removed and only the visible light signal is collected by tracing and extracting only the visible light signal from the acquired visible light image.

That is, since the visible light signal is always fixed and the image object is moving, only the visible light signal is extracted because the difference value between the t frame and the t-1 frame moves.

Since the parameters of the solid-state imaging device must be known in order to extract the visible light signal, the solid-state imaging device calibration process is performed.

Herein, the calibration of the solid-state image sensor is applied differently according to various kinds of objects according to the object to be photographed. In the present invention, since the object to be photographed is an LED lighting device attached to the ceiling, the solid- Setting.

Since the visible light signal modeling control unit according to the present invention needs to extract only the visible light signal in order to model the visible light signal, it is constructed using the mixed Gaussian extracting unit, the second order contrast map / motion information unit, and the third order hierarchical region structure unit .

The Mixed of Gaussian (MoG) extracts the background pixel model, separates the object by the background modeling technique, removes the noise through the median filter and the morphology operation, and extracts the object using the threshold value .

The contrast map / motion information unit finds important feature points using a contrast map and a wavelet transform and uses them to generate an approximate focus window (AW) to estimate the LED lighting apparatus image information, extract the contour difference And extracts only visible light signals.

The hierarchical region structure unit divides an image using a watermark algorithm and merges regions having similar attributes among the divided regions to form a hierarchical structure to extract only visible light signals.

Fourth, the pixel parallel resolution unit 440 according to the present invention will be described.

The pixel parallel resolution unit 440 converts the visible light signal data extracted through the visible light signal modeling control unit into a 16-bit pixel signal through a vertical scanner having a plurality of capacitors and a horizontal scanner, To 64-bit resolution.

As shown in Fig. 9, the image processing apparatus includes a vertical scanner unit 441, a horizontal scanner 442, a low-resolution resolution unit 443, and a high-resolution resolution unit 444.

The vertical scanner unit 441 has a function of arranging a plurality of capacitors in a one-to-one customized manner in a column parallel structure of pixels to scan in a vertical direction.

The horizontal scanner 442 has a function of arranging a plurality of capacitors in a one-to-one customized manner in a row-parallel structure of pixels to horizontally scan the pixels.

The low-resolution resolution unit 443 serves to apply resolution only by applying FD (fluorine) only at a low luminance level below the saturated charge amount of the image sensor unit.

The high-resolution resolution unit 444 applies resolution only by applying OFD (overflow) only at a higher level of saturation than the amount of charge of the image sensor unit.

In the pixel parallel resolution unit 440 according to the present invention, for example, M capacitors are arranged at the lower end in the horizontal direction of the image sensor unit, and N capacitors are arranged at the side ends in the vertical direction.

At this time, signals of all the M pixels in a certain row (n rows) are simultaneously output while being scanned in the horizontal direction of the lower end from the vertical direction at the upper end, and the M data are sampled and held in the M capacitors, 64-bit resolution and output.

Then, all the pixels of the row (n-th row) outputted immediately after the sample hold are reset (the accumulated signal charge is cleared).

This process is performed from n = 1 to n = N, and image output for one frame is completed.

At this time, the time required for the sample holder is set to be TSH, and the time (scan time) output from the capacitor array is set to TSCAN.

That is, the time (Trow) required for outputting one row is expressed by the following equation (1).

Here, the accumulation time Tint becomes Tint = NTrow, which is usually one frame time.

As shown in Fig. 10, two sets of capacitor arrays are prepared, the n-th row is outputted to the first capacitor array, and the n-delta row is output to another capacitor array immediately after resetting and reset.

Therefore, the accumulation time Tint 1 of the first output row becomes Tint 1 = Trow (N-Δ), and the accumulation time Tint 2 of the second output row becomes Tint 2 = ΔTrow.

For example, when N = 480 and? = 2, the accumulation time ratio becomes about 240: 1, and the resolution can be made to correspond to the high illuminance side.

The pixel parallel resolution unit 440 according to the present invention is constructed by incorporating an AD conversion circuit so that resolution can be made to 32 bits in a 640x512 pixel array and resolution can be made to 64 bits in a 1024x1024 pixel array.

The pixel parallel resolution unit 440 including the vertical scanner unit 441, the horizontal scanner 442, the low-resolution resolution unit 443, and the high-resolution resolution unit 444 constitutes the low- High resolution can be achieved from 16 bits to 64 bits at random noise 0.15m Vrms and FPN 0.15mvrms.

Fifth, the electronically controlled shutter unit 450 according to the present invention will be described.

The electronically controlled shutter unit 450 frequency-modulates the visible light data signal included in the pixel among the pixel-parallel structure data of high resolution through the pixel parallel resolution unit, It serves to modulate.

As shown in FIG. 11, the pixel parallel structure data of high resolution through the pixel parallel resolution unit is set to the x-axis of the horizontal row structure, the vertical column structure is set to the y-axis, Quot; 0 "signal in the pixel parallel structure data is blackened in the unit cell, and the" 1 "signal is made white, so that" 0 " / Pixel parallel structure data in the direction from the upper end portion of the x-axis to the lower end portion of the y-axis while resetting it to the continuous cell alternating streaming in the column direction.

Then, as shown in Fig. 11, the x-axis is set to time, and the row / column direction continuous cell alternating streaming graph in which the y-axis is set as a line is activated.

At this time, the electronically controlled shutter graph sequentially arranges the modulation time (Transfer time) and the reset sequence (Reset Sequence) on one line.

Then, a frame rate is set between the start line and the end line on the basis of the modulating time in a specific column direction, and the time between the start reset sequence of the end line and the end reset sequence of the end line is set to the exposure time ), And frequency-modulates the visible light data signal included in the pixel based on the frame rate and the display time.

As described above, the electronically controlled shutter unit according to the present invention can frequency-modulate the visible light data signal included in the pixel on the basis of one frame rate and the display time, and the delay time between the first data frame and the successive second data frame Time), and it is possible to provide a visible light data capacity of 30 bits to 120 bits and a fast transmission speed of 50 kbps to 300 kbps while varying the frequency range from 1 kHz to 10 MHz without buffering phenomenon of data interruption .

Subsequently, the visible light data signal included in another pixel among the pixel-parallel structure data is frequency-modulated by an electronically controlled shutter system.

Through this process, the visible light data signal included in the pixel among the pixel parallel structure data is rapidly modulated at 1 kHz and 2 kHz.

Sixth, the indoor autonomous traveling object control unit 460 according to the present invention will be described.

The indoor autonomous traveling object control unit 460 superimposes the visible light data signal that has been modulated at a high speed through the control shutter unit and decodes the blink frequency thereof to generate position information and multi information Controlling the movement of the indoor autonomous traveling objects according to the traveling direction and the speed, the control information about the traveling direction and the speed, and the information about the loading and discharging of the objects), and displaying the position information and the multi information on the screen.

Next, the smart control module 500 according to the present invention will be described.

The smart control module 500 is connected to a plurality of data transmission units located in a grouped zone in a state where the data transmission units are grouped by location and space, And a multi-information (control information on the moving direction and speed, object loading and discharging information) of the visible light LED ID data communication signal.

It includes a wired / wireless communication network connected to a data transmission unit.

In addition, the indoor autonomous traveling object according to the present invention includes a body, a wheel unit, a driving motor, a pliers robot, and an obstacle sensing unit in addition to an indoor autonomous traveling object type visible light receiving module.

Here, the tongue robot is formed in the form of a pincer, and serves to assist picking up or threading objects on the body.

The obstacle sensing unit includes a laser sensor, and when another indoor autonomous traveling object approaches within a predetermined distance (1m to 3m), the obstacle sensing unit senses it and transmits it to the indoor autonomous traveling object control unit.

At this time, when the obstacle detection signal is inputted from the obstacle detection unit, the indoor autonomous traveling object control unit drives the avoidance mode for avoiding the obstacle by controlling the rotational speed and the rotational direction of the driving motor.

Therefore, even if a plurality of indoor self-running objects are constructed, the collision avoidance can be improved by 70% through the obstacle detection and avoidance mode.

Hereinafter, an autonomous travel apparatus for a visible light communication indoor based on a solid-state image sensor according to the present invention will be described.

First, as shown in FIG. 12, location information of a positioning point and multi-information (control information on moving direction and speed, and object loading and discharging information) are transmitted to the data transmitting unit located in a specific space in the smart control module And sets the inherent visible light LED ID data communication signal included.

Next, after modulating the visible light LED ID data received from the smart control module through the data transmission unit, the data is transmitted through the 220V data supplied to the power source to the data receiving unit to which the hybrid type smart LED lamp is connected.

Next, the data receiving unit receives the AC 220V ASK modulation signal transmitted through the data, restores the visible light LED ID data included in the AC 220V ASK modulation signal, and outputs the recovered visible light LED ID data together with the AC 220V power source, Smart LED connected to one side Transmits to ceiling light type visible light transmission module.

Next, the visible light LED ID data is received from the data receiving unit through the smart LED ceiling light type visible light transmission module, and the signal light including the visible light LED ID data is emitted toward the surrounding self-traveling object using the LED light source.

Finally, in the indoor autonomous mobile object type visible light receiving module, the visible light ID data communication signal transmitted through the LED ceiling light type visible light transmitting module is received, and demodulated and restored to the visible light LED ID data communication signal, And displays the positional information and the multi-information contained in the visible light LED ID data communication signal on the screen while controlling the movement.

1: a solid-state imaging device-based visible light communication indoor self-driving device 100:
200: Data receiving unit
300: Smart LED ceiling light type visible light transmission module
400: Indoor self-running object type visible light receiving module 500: Smart control module

Claims (7)

The LED ceiling light is emitted and the visible light LED ID data communication signal including the position information of the desired positioning point and the multi information is radiated together so that the indoor autonomous traveling object located in the LED ceiling and the visible light receiving sector zone is transmitted through the visible light communication And controlling the movement of the visible light communication indoor self-traveling device based on the solid-state image sensing device,
The solid-state imaging device-based visible light communication indoor self-traveling device
A data transmission unit 100 for transmitting the visible light LED ID data received from the smart control module to a data reception unit connected to the hybrid type smart LED lamp through a wired / wireless communication network,
A data receiving unit 200 for transmitting the visible light LED ID data transmitted through the wired / wireless communication network to the smart LED ceiling type visible light transmitting module,
Receiving the visible light LED ID data from the data receiving unit, selectively modulating the signal light including the visible light LED ID data by using the LED light source, and emitting the light to the indoor self-traveling object in the vicinity A smart LED ceiling light type visible light transmission module 300,
When the LED ceiling or the like is located in the visible light receiving sector zone, the visible light ID data communication signal transmitted through the visible light transmitting module of the LED ceiling light is received and demodulated, An indoor autonomous traveling object type visible light receiving module 400 for displaying the position information and the multi information contained in the visible light LED ID data communication signal on the screen while moving the indoor autonomous traveling object by restoring to the LED ID data communication signal,
The data transmission unit is connected to a plurality of data transmission units located in a grouped zone in a state where the data transmission units are grouped by location and space so that position information of the positioning point and multi information And a smart control module (500) for setting an inherent visible light LED ID data communication signal including control information, direction information, direction information, and object information for loading and discharging information,
The indoor autonomous traveling object type visible light receiving module 400
A solid-state image pickup device 410 receiving signal light including visible light LED ID data transmitted through an LED signal light type visible light transmission module and converting the received signal light into visible light image,
A distortion correcting unit 420 for correcting the distortion of the image by receiving the visible light image imaged by the solid state imaging device,
A visible light signal modeling controller 430 for dividing the image object and the visible light signal from the distortion-corrected visible image through the distortion correcting unit, removing the image object, and extracting only the visible light signal,
A pixel parallel resolution that high-speeds the visible light signal data extracted through the visible light signal modeling controller to 16 bits to 64 bits so as to form a pixel parallel structure through a vertical scanner having a plurality of capacitors and a horizontal scanner 440,
An electronically controlled shutter unit 450 for frequency-modulating the visible light data signal included in the pixel among the pixel-parallel structure data that has been fast-resolved through the pixel-parallel resolution unit and then modulating the visible light data signal at high speed by an electronically controlled shutter system of alternating- Wow,
Speed light modulated by the electronically controlled shutter unit and superimposes the visible light data signal while superimposing the visible light data signal at high speed through the electronically controlled shutter unit so that the positional information and the multi-information included in the visible light LED ID data communication signal (control information on the moving direction and speed, And an indoor self-driving object control unit (460) for controlling the indoor self-driving object to move and control the positional information and the multi-information on the screen in accordance with the object information Visible light communication indoor self - driving device.
delete delete delete delete The solid-state image pickup device according to claim 1, wherein the solid-state image pickup device (410)
An image lens unit 411 for transmitting an image of a subject,
An IR cut filter unit 412 for cutting off infrared light from the outside when shooting an image,
And an image sensor unit (413) for converting the image into an electrical signal.
The image display device according to claim 1, wherein the pixel parallel resolution unit (440)
A vertical scanner unit 441 for vertically installing a plurality of capacitors in a 1: 1 customized manner in a column parallel structure of pixels,
A horizontal scanner 442 for horizontally installing a plurality of capacitors in a 1: 1 customized manner in a row-parallel structure of pixels,
A low-illuminance resolution section 443 for applying resolution only by using FD (fluorine) at a low illuminance lower than the saturated charge amount of the image sensor section,
And a high-contrast resolution unit (444) that applies resolution only by applying OFD (over-flow) at a high level of luminance higher than the saturation charge amount of the image sensor unit.

Images