KR101918684B1 - 3D Obstacle detecting apparatus for adaptation to velocity - Google Patents

Abstract

The present invention relates to a velocity-adaptive three-dimensional obstacle sensing device which is applied to a moving moving object and detects a distance to an obstacle existing in all directions in three dimensions and automatically changes the measuring speed according to the velocity of the moving object,
The velocity-adaptive three-dimensional obstacle sensing apparatus according to an embodiment of the present invention includes:
A velocity-adaptive three-dimensional obstacle sensing apparatus for a moving body, comprising: a laser diode for generating a laser beam; a diffusion lens for dispersing the laser beam; and a laser beam dispersed by the diffusion lens, An asymmetric cone mirror for converting the asymmetric cone mirror into a mirror, and a rotation motor for rotating the asymmetric cone mirror; And a light receiving unit for receiving the laser beam emitted from the light emitting unit and reflected by the obstacle.

Description

TECHNICAL FIELD [0001] The present invention relates to a three-dimensional obstacle detecting apparatus,

The present invention relates to an obstacle detection device, and more particularly, to an obstacle detection device that detects a distance and an altitude from an obstacle present in a three-dimensional omnidirection by applying to a moving moving object, Type three-dimensional obstacle sensing apparatus.

A laser (Light Amplification by the Stimulated Emission of Radiation (LASER)) emits a stimulated emission of light to amplify the laser light.

Light Detection and Ranging (LiDAR) is a technology to measure the distance using a laser. It builds terrain data for 3-D GIS (Geographic Information System) information construction and visualizes it. And the like.

Recently, it has been attracting attention as a core technology due to its application to autonomous vehicles, mobile robots, and drone.

When applied to an automobile, Lada can perform alarm or vehicle automatic control by measuring the inter-vehicle distance in real time so as to avoid collision with the vehicle ahead or minimize the impact.

The following Patent Documents 1 and 2 disclose an object sensor technology for detecting an object using a laser.

Patent Document 1 includes a laser light source for generating a laser beam, a front image and a camera for irradiating the laser light generated from the laser light source and photographing the front laser light irradiation image, and an image processing device for processing the image photographed by the camera And the image processing apparatus subtracts the other image from the front image and the laser light irradiated image and judges that there is an obstacle when the laser light is reflected on the subject in the subtracted image An obstacle sensing device configuration is described.

Patent Document 2 discloses an optical pickup device that includes a light emitting portion for emitting a laser beam, a light receiving portion for receiving a laser beam reflected by an obstacle after being emitted from the light emitting portion, an obstacle detecting portion for detecting an obstacle by using the laser beam received through the light receiving portion, And a display unit for displaying an obstacle detected by the obstacle detection unit on the screen. By mounting at least one detection module (light emitting unit and light receiving unit) on the wheel of the vehicle, Discloses an apparatus configuration for detecting an obstacle around a vehicle that detects an obstacle around the vehicle.

On the other hand, the laser irradiates a laser beam having a linear shape and a narrow point shape. Therefore, in the obstacle detection device according to the related art, a lens, a prism, or the like is provided at the tip of the laser to convert the point laser into a linear shape to form a line beam.

However, even if a line beam is used, the obstacle detection apparatus according to the related art can extend only the width of the line beam and can not expand the width of the line beam. Therefore, when applied to a moving object such as a drone, There is a problem that an obstacle located at the upper side or the lower side of the center can not be accurately detected.

In addition, since only one direction is detected rather than the omni-directional direction, the obstacle detection device must be arranged in each direction for omni-directional sensing, which complicates the structure and poses a problem of miniaturization.

In addition, there is a problem in that it is inefficient because the peripheral obstacle is detected at the same measurement speed regardless of whether the moving object moves at low speed or at high speed.

1. Korean Patent Registration No. 10-1296780 2. Korean Patent Registration No. 10-1491289

An object of the present invention is to provide a velocity-adaptive three-dimensional obstacle sensing device which is applied to a moving moving object, detects a distance and an altitude from an obstacle existing all over the three-dimensional omnidirection, .

The velocity-adaptive three-dimensional obstacle sensing apparatus according to an embodiment of the present invention includes:

A velocity-adaptive three-dimensional obstacle sensing device formed on a moving body, comprising: a laser diode for generating a laser beam; an asymmetric cone mirror for converting the laser beam into a three-dimensional solid laser beam; A light emitting portion including a motor; And a light receiving unit for receiving the laser beam emitted from the light emitting unit and reflected by the obstacle.

According to an aspect of the present invention, a diffusion lens for dispersing a laser beam generated in the laser diode may be further included.

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According to one aspect of the present invention, the asymmetric conical mirror is formed such that the apex of the cone is not centered but eccentrically located on one side of the upper, lower, left, and right sides.

According to one aspect of the present invention, the asymmetric conical mirror differs from the slope of the oblique line from the outer circumference to the vertex of the cone, so that the radiation direction varies depending on the angle formed by the laser beam incident on the asymmetric conical mirror and the incident surface .

According to an aspect of the present invention, there is provided a method of controlling a light emitting device, comprising: calculating a distance to an obstacle by using a laser beam received by the light receiving unit; and controlling an operation of at least one of the light emitting unit and the light receiving unit And a control unit.

According to an aspect of the present invention, the control unit adjusts the distance between the asymmetric cone mirror and the diffusion lens based on the moving speed information of the moving object.

According to one aspect of the present invention, the light receiving unit includes a condenser lens for condensing the received laser beam, and an image sensor for receiving the laser beam condensed by the condenser lens, And the sensor resolution and the frame rate of the image sensor are adjusted based on the received signal.

According to one aspect of the present invention, a distance is calculated by measuring a time difference between a reference point at which light is emitted from the light emitting unit and a detection point of light reflected back from the obstacle, And a control unit for controlling the operation of at least one of the light receiving unit and the light receiving unit.

Other specific embodiments of various aspects of the present invention are included in the detailed description below.

According to the embodiment of the present invention, it is possible to detect a distance and an altitude from an obstacle existing all over the three-dimensional omnidirection with a simple structure, which is advantageous in miniaturization.

In addition, the measurement speed can be automatically changed according to the speed of the moving object, and the obstacle detection performance can be improved.

Further, the viewing angle can be varied according to the speed of the moving object, and the obstacle detection performance can be improved.

1 is a block diagram illustrating a velocity-adaptive three-dimensional obstacle sensing apparatus according to an embodiment of the present invention.
2 is a perspective view illustrating a light emitting unit and a light receiving unit of a speed adaptive three-dimensional obstacle sensing apparatus according to an embodiment of the present invention.
Fig. 3 is a view showing an asymmetrical conical mirror, a left side view is a plan view of an asymmetric conical mirror, and a right side view is a side view of an asymmetric conical mirror.
4A and 4B are views illustrating a process of emitting a laser beam in an asymmetric conical mirror.
5 is a diagram illustrating that a stereoscopic laser beam and a light-receiving unit, which are emitted from an emitting unit toward an obstacle, receive a laser beam.
FIG. 6 is a side view illustrating an operation state of a light emitting unit of a speed-adaptive three-dimensional obstacle sensing apparatus according to an embodiment of the present invention.
FIG. 7 is a flowchart illustrating an operation of a speed adaptive three-dimensional obstacle sensing apparatus according to an embodiment of the present invention.

The present invention is capable of various modifications and various embodiments and is intended to illustrate and describe the specific embodiments in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present invention, terms such as "comprises" or "having" are used to designate the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof. Hereinafter, a velocity-adaptive three-dimensional obstacle sensing apparatus according to an embodiment of the present invention will be described with reference to the drawings.

In this embodiment, the moving body may be a unmanned aerial vehicle (drone). The moving object may be equipped with the speed adaptive three-dimensional obstacle sensing apparatus according to the present embodiment. Of course, the present invention is not limited thereto, and may be applied to various devices such as a vehicle, a moving robot, and the like, and an object detecting device that detects a moving object at a predetermined position.

FIG. 1 is a block diagram illustrating a velocity-adaptive three-dimensional obstacle sensing apparatus according to an embodiment of the present invention. FIG. 2 is a block diagram of a velocity-adaptive three-dimensional obstacle sensing apparatus according to an exemplary embodiment of the present invention. Fig.

1, a speed-adaptive three-dimensional obstacle sensing apparatus (hereinafter, also referred to as an obstacle sensing apparatus) according to an embodiment of the present invention includes a light emitting unit 100, a light receiving unit 200, 300).

The light emitting unit 100 converts the laser beam generated by the laser diode 110 into a laser beam of a three-dimensional solid shape to emit light. Here, a three-dimensional solid laser beam (hereinafter also referred to as a "stereoscopic laser beam") means a laser beam that radiates in all directions of xyz, and not only obstacles in the same plane as the light emitting unit 100, Means a laser beam that is radiated toward an obstacle present in a direction. Therefore, the stereoscopic laser beam can sense the height (height) at which the obstacle exists.

2, the light emitting unit 100 includes a laser diode 110 disposed on the base B for generating a laser beam, an asymmetric cone mirror 130 for converting the laser beam into a stereoscopic laser beam, And a rotation motor 140 for rotating the asymmetric conical mirror. Further, the light emitting portion 100 may selectively include a diffusion lens 120 for dispersing the laser beam. In this case, the asymmetric conical mirror 130 converts the laser beam scattered by the diffusion lens 120 into a stereoscopic laser beam. In the following description, the case where the light emitting unit 100 includes the diffusion lens 120 will be described as an example.

The base B is a plate member having a predetermined shape and the light emitting unit 100 including the laser diode 110, the light receiving unit 200 and the control unit 300 may be formed on the base B. The laser diode 110, the diffusion lens 120, the asymmetric conical mirror 130, and the rotation motor 140 may be formed in a single housing (not shown). In FIG. 2, the housing is omitted Respectively.

The diffusion lens 120 has a configuration in which a laser output from the laser diode 110 is spread and output. When the laser output from the laser diode 110 is received by the incident surface, the diffusion lens 120 spreads the laser.

The diffusing lens 120 may be integrally provided on the front side of the laser diode 110 or may be installed separately from the laser diode 110 and preferably integrally with the laser diode 110. The incident surface of the diffusing lens 120 is anti-reflection (AR) coating so that the reflection of the incident laser is minimized.

Fig. 3 is a view showing an asymmetrical conical mirror, a left side view is a plan view of an asymmetric conical mirror, and a right side view is a side view of an asymmetric conical mirror. 4 is a view illustrating a process of emitting a laser beam in an asymmetric conical mirror.

The asymmetric conical mirror 130 is disposed on the front side of the diffusion lens 120 and converts the laser beam dispersed by the diffusion lens 120 into a laser beam of a three-dimensional solid shape. The asymmetric conical mirror 130, for example, redirects the laser beam irradiated in the z-axis direction in all directions.

As shown in FIG. 3, the asymmetric cone-shaped mirror 130 is a cone-shaped mirror or a mirror formed by eccentrically concentrating the vertex O of the cone not on the center but on the upper, lower, left, and right sides.

The asymmetric cone mirror 130 applied to the present invention has the inclination angles? 1 and? 2 of the oblique lines L1 and L2 extending from the outer periphery to the vertex of the cone, . Therefore, the laser beam incident on the asymmetric conical mirror 130 through the diffusing lens 120 has different radiation directions depending on the angle formed by the laser beam and the incident surface.

4, the laser beam B1 on the left side of the conical apex O of the laser beam incident on the asymmetric cone mirror 130 is incident on the incident plane at an angle of 45 degrees and is parallel to the xy plane The laser beam B2 on the right side of the conical apex O is incident at an angle of 30 degrees with respect to the incident plane and is incident on the plane of z = 0 and the plane direction of 30 degrees . (Fig. 4A)

4B, when the asymmetric conical mirror 130 is rotated by 1/2, the laser beam B1 on the left side is radiated in the plane direction forming the angle of 30 degrees with the plane on which z = 0, and the laser beam B2 on the right side is emitted z = 0.

While the asymmetric conical mirror 130 is rotated by one rotation of the rotary motor 140, the laser beams B1 and B2 are emitted by incidence planes having different slopes, and as a result, they are emitted by the asymmetric conical mirror 130 The laser beams are spread with a three-dimensional solid shape as shown in FIG. Accordingly, it is possible to detect the position and altitude of the obstacles existing around the air vehicle.

The light receiving unit 200 is formed on the base B and is spaced apart from the light emitting unit 100 by a predetermined distance as shown in FIG. 2, and the plurality of light receiving units 200 are circular, So that the obstacle can be detected.

5 is a diagram illustrating that a stereoscopic laser beam and a light-receiving unit, which are emitted from an emitting unit toward an obstacle, receive a laser beam. 5, the light receiving unit 200 receives the laser beam reflected by the obstacle from the laser beam of the three-dimensional solid shape converted by the asymmetric conical mirror 130, and transmits the laser beam to the controller 300. The light receiving unit 200 may include a condenser lens 210 for condensing the received laser beam and an image sensor 220 for receiving the condensed laser beam from the condenser lens 210.

The control unit 300 calculates the distance to the obstacle using the laser beam received by the light receiving unit 200. The control unit 300 can calculate the distance to the obstacle by using the triangulation method and also measures the time difference between the reference point at which the light is emitted from the light emitting unit 100 and the detection point of the light reflected back from the obstacle, The distance to the obstacle can be calculated using the flight time method. When the distance is calculated using the time-of-flight method, the light-receiving unit 200 may include a photodiode and a time-to-distance converter (TDC).

The control unit 300 calculates the distance to the obstacle using the laser beam received from the light receiving unit 200 and controls the operation of the light receiving unit 200 using the moving speed information of the moving object. The control unit 300 may control the operation of the light emitting unit 100 using the moving speed information of the moving object to adjust the distance between the asymmetric cone mirror 130 and the diffusion lens 120.

The control unit 300 includes a moving speed calculation module 310 for calculating moving speed information, a light receiving unit control module 320 for controlling the operation of the light receiving unit 200, A light emitting part control module 330, a distance calculating module 340 for calculating the distance between the moving object and the obstacle, and a storage module 350.

The moving speed calculation module 310 may calculate the moving speed by receiving the current moving speed information of the moving body in real time from the GPS module or may calculate the current moving speed information of the moving body by using the acceleration sensor or the speed sensor. The GPS module, the acceleration sensor, the speed sensor, and the like may be of an external type mounted on a mobile body, but may be built in built in the speed adaptive three-dimensional obstacle sensing device of the present invention.

The light receiving unit control module 320 automatically changes the measurement speed of the image sensor according to the moving speed information of the moving object calculated by the moving speed calculating module 310. [ That is, the light receiving unit control module 320 adjusts the sensor resolution of the image sensor 220 of the light receiving unit 200 to vary the measurement speed of the image sensor.

The measurement speed of the image sensor 220 is determined by the frame rate. Assuming that the total resolution (sensor resolution) is R, the normal frame rate is determined to be about 30 frames per second (FPS).

Due to the characteristics of the image sensor 220, the frame rate can be increased by lowering the resolution. Normally, when the moving object is moving at a high speed, the image sensor 220 is preferably operated at a high speed.

Therefore, the light receiving unit control module 320 controls the sensor resolution and the frame rate of the image sensor 220 according to the moving speed information of the moving object. That is, when the moving object is moving at a high speed, the sensor resolution is decreased and the frame rate is increased. When the moving object is stopped or moving at a low speed, the sensor resolution is maximized and the frame rate is minimized.

The sensor resolution and the frame rate adjustment by the light-receiving unit control module 320 can be performed by a look-up table method as shown in Table 1 below.

speed Sensor resolution Frame rate 0 to V1 R F V1 to V2 0.5R 2F V2 to V3 0.25R 4F V3 ~ 0.1R 10F

Here, Vn (V1, V2, V3 ...) is a preset arbitrary reference speed, R is the full resolution, and F is the frame rate at the lowest speed section '0 to V1'.

The light emission control module 330 adjusts the distance between the asymmetric conical mirror 130 and the diffusion lens 120 based on the moving speed information of the moving object.

The light emitting portion control module 330 increases the distance between the asymmetric conical mirror 130 and the diffusion lens 120 when the moving body moves at a high speed and when the moving body is stopped or moves at a low speed, Thereby reducing the distance between the diffusing lenses 120 so as to be close to each other. At this time, an actuator (not shown) for adjusting the distance between the asymmetric conical mirror 130 and the diffusion lens 120 may be formed in the light emitting portion 100.

FIG. 6 is a side view illustrating an operation state of a light emitting unit of a speed-adaptive three-dimensional obstacle sensing apparatus according to an embodiment of the present invention.

6, when the distance between the asymmetric conical mirror 130 and the diffusion lens 120 is increased, the area in which the laser beam contacts the surface of the asymmetric conical mirror 130 becomes larger, . Thus, it becomes possible to detect distant and high altitude obstacles. 6, as the distance decreases, the area where the laser beam contacts the surface of the asymmetric cone mirror 130 becomes smaller, but the obstacle in the near and lower altitudes can be detected in more detail .

The distance calculation module 340 analyzes the image signal of the laser beam detected by the light receiving unit 200 and calculates distance information. The distance calculation module 340 calculates the distance by performing triangulation calculation from the video signal of the detected laser beam, and provides the information as information for recognizing the position of the moving object or preventing collision with an obstacle.

The distance calculation module 340 calculates the distance to the obstacle based on the installation position information between the light emitting unit 100 and the light receiving unit 200 stored in the storage module 350 The distance to the obstacle displayed on the screen of the light receiving unit 100 is calculated using the angle information and the distance information between the light emitting unit 100 and the light receiving unit 200 when the light is reflected by the light receiving unit 200, Is calculated using triangulation calculation.

The storage module 350 stores programs related to the operation of the controller 300 and basic setting information. The basic setting information includes installation position information between the light emitting unit 100 and the light receiving unit 200, that is, angle information and separation distance information between the light emitting unit 100 and the light receiving unit 200, and the like.

In addition, the storage module 350 stores a look-up table for sensor resolution and frame rate adjustment.

FIG. 7 is a flowchart illustrating an operation of a speed adaptive three-dimensional obstacle sensing apparatus according to an embodiment of the present invention.

The operation of the speed-adaptive three-dimensional obstacle sensing apparatus according to an embodiment of the present invention will now be described with reference to FIG.

First, the moving speed of the moving object is calculated. (S100)

The moving speed calculation module 310 receives the current moving speed information of the moving object in real time from the GPS module and calculates the moving speed or calculates the current moving speed information of the moving object using the acceleration sensor or the speed sensor.

Next, the operation of the light receiving section 200 is controlled based on the moving speed. (S200)

The light receiving unit control module 320 controls the sensor resolution and the frame rate of the image sensor 220 according to the moving speed information of the moving object. That is, when the moving object is moving at a high speed, the sensor resolution is decreased and the frame rate is increased. When the moving object is stopped or moving at a low speed, the sensor resolution is maximized and the frame rate is minimized.

Next, the operation of the light emitting unit 100 is controlled based on the moving speed. (S300)

The light emitting portion control module 330 increases the distance between the asymmetric conical mirror 130 and the diffusion lens 120 when the moving body moves at a high speed and when the moving body is stopped or moves at a low speed, Thereby reducing the distance between the diffusing lenses 120 so as to be close to each other.

In step S200 and step S300, step S300 is not followed by step S300, step S200 may be followed by step S300, and step S200 or step S300 may be performed.

Next, the stereoscopic laser beam is emitted in the omnidirectional direction by the light emitting unit 100, and the light receiving unit 200 receives the laser beam reflected by the obstacle. (S400)

Next, the distance calculation module 340 calculates the distance by performing triangulation calculation from the image signal of the received laser beam, and provides the information for recognizing the self position of the moving object or preventing collision with the obstacle. (S500)

According to the velocity-adaptive three-dimensional obstacle sensing apparatus of the present invention as described above, the distance to the obstacle in the 360-degree direction can be detected by being applied to a moving moving object, There is an advantage that it is advantageous. In addition, the measurement speed can be automatically changed according to the speed of the moving object, and the obstacle detection performance can be improved. Further, the viewing angle can be varied according to the speed of the moving object, and the obstacle detection performance can be improved.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit of the invention as set forth in the appended claims. The present invention can be variously modified and changed by those skilled in the art, and it is also within the scope of the present invention.

100: light emitting portion 200: light receiving portion
300: control unit 310: moving speed calculation module
320: light receiving unit control module 330: light emitting unit control module
340: Distance calculation module 350: Storage module

Claims (8)

A velocity-adaptive three-dimensional obstacle sensing device formed on a moving object,
A light emitting unit including a laser diode for generating a laser beam, an asymmetric cone mirror for converting the laser beam into a laser beam of a three-dimensional shape having various radiation ranges, and a rotation motor for rotating the asymmetric cone mirror; And
A laser beam emitted from the light emitting unit is received by a light receiving unit
Lt; / RTI >
The asymmetric conical mirror
Wherein the vertex of the cone is not centered but eccentric to one side of the upper, lower, left, and right sides.

The method according to claim 1,
And a diffusion lens for dispersing a laser beam generated in the laser diode.
delete [2] The asymmetric cone mirror according to claim 1,
Wherein the slope of the oblique line from the outer periphery to the vertex of the cone differs from the slope of the oblique line from the outer periphery to the vertex of the cone so that the radiation direction changes according to an angle formed by the laser beam incident on the asymmetric conical mirror and the incident surface. .
The method of claim 2,
A control unit for calculating the distance to the obstacle by using the laser beam received by the light receiving unit and controlling the operation of at least one of the light emitting unit and the light receiving unit based on the moving speed information of the moving object,
Wherein the velocity-adaptive three-dimensional obstacle sensing device comprises:
6. The apparatus of claim 5,
Wherein the distance between the asymmetric cone mirror and the diffusing lens is adjusted based on the moving speed information of the moving object.
The light-emitting device according to claim 5,
A condensing lens for condensing the received laser beam,
And an image sensor for receiving the condensed laser beam from the condensing lens,
Wherein the controller adjusts the sensor resolution and the frame rate of the image sensor based on the moving speed information of the moving object.
The method according to claim 1,
At least one of the light emitting unit and the light receiving unit based on the moving speed information of the moving object is obtained by calculating a distance by measuring a time difference between a reference time point at which light is emitted from the light emitting unit and a detection time point of the light reflected back from the obstacle, Lt; RTI ID = 0.0 >
Wherein the velocity-adaptive three-dimensional obstacle sensing device comprises:

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