KR102384333B1 - Apparatus for Terrain flight including lidar sensor - Google Patents

Abstract

These embodiments include at least one of a rotary LiDAR sensor that detects surrounding terrain or objects to generate LiDAR data, location information of the terrain flying device, and attitude information or speed data of the terrain flying device in the terrain flying device It includes a flight controller that collects flight data, receives movement location information to control flight, and an information generator that generates terrain information based on lidar data, and calculates movement location information using terrain information and flight data We propose a terrain flying device that does

Description

Apparatus for Terrain flight including lidar sensor

The present invention relates to a terrain flying device, and more particularly to a terrain flying device including a lidar sensor.

The content described in this section merely provides background information for the present embodiment and does not constitute the prior art.

An unmanned aerial vehicle (UAV) refers to an aircraft that is remotely controlled from the ground without a pilot on board to perform a certain mission, or that the aircraft recognizes and judges the surrounding environment through a pre-entered mission program and flies by itself.

The premise of the unmanned aerial vehicle is the technology to check the surrounding obstacles or terrain and set the driving route based on this. Therefore, a LIDAR sensor (Light Detection And Ranging Sensor) is provided to check surrounding obstacles or terrain, etc., and such a LIDAR device irradiates a laser toward a target and receives the reflected light from the target. , distance to an object, direction, speed, temperature, material distribution and concentration characteristics, etc. can be detected.

In particular, there is a problem in that it is difficult to detect the exact position of the surrounding obstacle when the lidar sensor detects the surrounding obstacle in a situation where the unmanned aerial vehicle is tilted or the rotation speed of the lidar device is non-uniform.

Embodiments of the present invention have a main object of the invention to control the movement of the unmanned aerial vehicle by acquiring terrain information and avoidance information using a lidar sensor provided in the unmanned aerial vehicle to accurately identify surrounding obstacles or terrain, etc.

Other objects not specified in the present invention may be additionally considered within the scope that can be easily inferred from the following detailed description and effects thereof.

According to one aspect of this embodiment, in the present invention, in a terrain flight device, a rotary lidar sensor that detects surrounding terrain or objects to generate lidar data, location information of the terrain flight device, and the terrain flight device It collects flight data including at least one attitude information or speed data, receives movement location information to control flight, and generates terrain information based on the lidar data, and collects the terrain information and the flight data. We propose a terrain flying device including an information generating unit for calculating the moving location information using the.

Preferably, the rotary lidar sensor rotates by a predetermined angle based on a first distance indicating an altitude to the ground surface perpendicular to the terrain flying device and the ground surface perpendicular to the terrain flying device to reach the terrain or object. It is characterized in that the lidar data is generated by sensing a second distance indicating the distance.

Preferably, the information generator includes a terrain information generator that generates terrain information by using the lidar data and the flight data, and the terrain information generator includes a location of the terrain or object to the ground surface according to the predetermined angle. calculating a third distance representing the distance of , and calculating a fourth distance representing the altitude of the terrain or object sensed at the predetermined angle using the first distance, the second distance, and the third distance do it with

Preferably, the terrain information generating unit is characterized in that it calculates the predetermined angle using a correction value by the second distance, the flight data, and the acceleration value of the terrain flight device.

Preferably, the terrain information generating unit based on the location information of the terrain flying device, the first distance, the second distance, the third distance, and the location of the terrain or object identified through the fourth distance and in advance It is characterized in that the topographic information is generated by comparing the stored topographic data.

Preferably, the information generating unit generates the movement location information for the terrain flight device to move while avoiding the surrounding terrain or objects by using the location information, the predetermined angle, and the terrain information of the terrain flight device. Further comprising a movement information generation unit, the flight control unit is characterized in that based on the movement position information to control the flight of the terrain flight device, including at least one of the location, angle and height information at which the terrain flight device moves .

Preferably, the flight control unit resets the movement path according to the movement location information, and controls the posture and speed of the terrain flight device from the current location of the terrain flight device to the movement path based on the movement path characterized in that

Preferably, the movement path is characterized in that it is a path from a point in time when the terrain flight device recognizes the surrounding terrain or object to a point in time when it moves while avoiding the surrounding terrain or object.

Preferably, the information generating unit analyzes the lidar data generated by the rotary lidar sensor to generate shape information of the terrain or object, and the flight control unit generates information about the shape of the terrain or object and the shape information of the terrain or object. It is possible to determine whether to avoid the terrain flying device based on the size.

As described above, according to embodiments of the present invention, it is possible to provide an effect of accurately grasping surrounding obstacles or terrain by acquiring terrain information and avoidance information.

Even if it is an effect not explicitly mentioned herein, the effects described in the following specification expected by the technical features of the present invention and their potential effects are treated as if they were described in the specification of the present invention.

1 is a view showing the configuration of a terrain flying device according to an embodiment of the present invention.
2 is an exemplary view showing a terrain flying device according to an embodiment of the present invention.
3 is a flowchart illustrating a terrain flight method by a terrain flight device according to an embodiment of the present invention.
4 is a flowchart illustrating the generation of terrain information of a terrain flight method by a terrain flight apparatus according to an embodiment of the present invention.
5 is a flowchart illustrating the generation and transmission of a terrain flight device avoidance flight position of a terrain flight method by a terrain flight device according to an embodiment of the present invention.
6 is an exemplary diagram for calculating the altitude and angle of an obstacle according to an embodiment of the present invention.
7 is a structural diagram illustrating a detailed structure of the rotary lidar sensor of FIG. 2 .
8 is a structural diagram illustrating a detailed structure of a sensor according to another embodiment of the present invention.

Hereinafter, in the description of the present invention, if it is determined that the subject matter of the present invention may be unnecessarily obscure as it is obvious to those skilled in the art with respect to related known functions, the detailed description thereof will be omitted, and some embodiments of the present invention will be described. It will be described in detail with reference to exemplary drawings. However, the present invention may be embodied in various different forms, and is not limited to the described embodiments. In addition, in order to clearly explain the present invention, parts irrelevant to the description are omitted, and the same reference numerals in the drawings indicate the same members.

and/or includes a combination of a plurality of related recited claims or any of a plurality of related recited claims.

When an element is referred to as being “connected” or “connected” to another element, it is understood that it may be directly connected or connected to the other element, but other elements may exist in between. it should be

The suffixes "module" and "part" for components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have distinct meanings or roles by themselves.

Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

The present invention relates to a terrain flight apparatus and method using a lidar sensor.

1 is a view showing the configuration of a terrain flying device according to an embodiment of the present invention.

Referring to FIG. 1 , the terrain flight device 10 includes a flight control unit 100 , an information generation unit 200 , and a rotary lidar sensor 300 . The terrain flying device 10 may omit some of the various components illustrated by way of example in FIG. 1 or may additionally include other components.

The terrain flying device 10 may be implemented as a drone, an unmanned aerial vehicle, etc., and may be implemented as a device flying in the air by radio control, but is not necessarily limited thereto.

The flight control unit 100 collects flight data including at least one of the location information of the terrain flight device 10, the attitude information or the speed data of the terrain flight device 10, and receives the movement location information to control the flight. there is.

The flight control unit 100 may reset the movement path according to the movement location information, and control the posture and speed of the terrain flight device 10 from the current location of the terrain flight device 10 to the movement path based on the movement route. there is.

The movement path may be set as a path for driving while avoiding close proximity to a minimum distance without colliding with the terrain or an object. In addition, the movement path is a path in which the terrain flight device 10 moves up and down or left and right to avoid obstacles, and movement may not be limited.

The movement path may be a path from a point in time when the terrain flight device 10 recognizes the surrounding terrain or object to a point in time when it moves by avoiding the surrounding terrain or object. Here, the surrounding terrain or object is an obstacle that obstructs the course for the terrain flight device 10 to move, and may be implemented as an object or the like, and may be implemented as anything that interferes with movement.

The rotary lidar sensor 300 may generate lidar data by detecting surrounding terrain or objects.

The rotary lidar sensor 300 rotates by a predetermined angle based on the first distance indicating the altitude to the ground surface perpendicular to the terrain flight device 10 and the terrain flight device 10 and the ground surface to the terrain or object. LiDAR data may be generated by sensing a second distance indicating a distance of . Specifically, the second distance may be a distance measured according to a predetermined angle of the lidar sensor 300 .

According to an embodiment of the present invention, the rotary lidar sensor 300 is a first distance and terrain indicating an altitude to the surface perpendicular to the terrain flying device 10 when the terrain flight device 10 does not move. It is possible to generate lidar data by detecting a second distance indicating a distance to a terrain or an object by rotating by a predetermined angle based on the ground surface perpendicular to the flying device 10 . Here, the second distance may be continuously adjusted by a predetermined angle based on the ground surface perpendicular to the terrain flight device 10, and then a plurality of distances according to the angle may be measured.

The information generator 200 may generate terrain information based on the lidar data generated by the rotary lidar sensor 300 , and calculate movement location information using the terrain information and flight data.

The information generation unit 200 includes a terrain information generation unit 210 and a movement information generation unit 220 .

The terrain information generator 210 may generate terrain information by using lidar data and flight data.

The terrain information generator 210 calculates a third distance indicating a distance from the location of the terrain or object sensed at a preset angle to the ground surface according to a predetermined angle, and uses the first distance, the second distance, and the third distance. Thus, a fourth distance indicating the altitude of the terrain or object sensed at a predetermined angle may be calculated.

The terrain information generation unit 210 is corrected by the acceleration value of the flight data and the terrain flight apparatus including at least one of the second distance, the position information of the terrain flight apparatus 10, the attitude information or the speed data of the terrain flight apparatus 10 A certain angle can be calculated using the value.

The terrain information generating unit 210 is based on the location information of the terrain flight device 10, the first distance, the second distance, the third distance, and the location of the object identified through the third distance and the fourth distance and the pre-stored topographic data By comparison, topographic information can be generated.

Here, the terrain information may indicate the shape of the terrain or object by analyzing the lidar data generated by the rotation type lidar sensor 300 to generate information about the shape of the terrain or object.

The movement information generation unit 220 may generate movement position information for the terrain flight device 10 to move while avoiding the surrounding terrain or objects by using a certain angle and terrain information.

The flight controller 100 may control the flight of the terrain flight device 10 by including at least one of the location, angle, and height information at which the terrain flight device 10 moves based on the movement location information. Here, the movement location information may be generated including a movement distance and an angular height according to coordinates (X-axis, Y-axis, Z-axis) displayed in space.

The information generating unit 200 may analyze the lidar data generated by the rotary lidar sensor to generate information on the shape of a terrain or an object including soil, trees, stones, or grass.

The flight control unit 100 may determine whether to avoid the terrain flight device based on the shape information of the terrain or object. Here, whether to avoid may be determined according to the terrain or the strength of the object. The intensity of the object may be determined according to the reflection intensity of the rotating lidar sensor 300, and through this, the shape information may be predicted by predicting the combination of materials.

In general, terrain or objects must be considered for the safe running of the terrain flying device 10, since when the terrain flying device 10 collides, it may cause problems in flight. In addition, if the terrain or object does not damage the terrain flight device 10, it may be implemented to pass without avoiding, thereby preventing loss of power for flight.

2 is an exemplary view showing a terrain flying device according to an embodiment of the present invention.

According to an embodiment of the present invention, the terrain flight device 10 may include the flight control unit 100 and the information generating unit 200 at the upper end, and the rotary radar sensor 300 may be formed at the lower end. . Here, the attachment positions of the flight control unit 100 , the information generating unit 200 , and the rotary radar sensor 300 are not limited to those shown in the drawings, and the attachment positions can be easily changed as needed.

Referring to FIG. 2 , the rotary radar sensor 300 is illustrated as being attached to the lower end of the terrain flying device 10 , but is not necessarily limited thereto.

The rotary lidar sensor 300 is attached to the bottom of the plate attached to the terrain flight device 10, may be provided on a rotating body, and may detect a terrain or an object in a target direction by the rotating body.

According to an embodiment of the present invention, the rotary lidar sensor 300 may be connected to a multi-axis gimbal and rotate about a direction axis. For example, the rotary lidar sensor 300 may be connected to a 3-axis gimbal, and may rotate through an angle indicating a posture formed by roll, pitch, and yaw.

Specifically, the rotary lidar sensor 300 may be implemented to measure the distance to the surrounding terrain or object by moving a certain angle based on the angle of looking at the ground surface in the vertical direction.

According to an embodiment of the present invention, the terrain flight device 10 may detect the second distance by rotating by a predetermined angle with respect to the ground surface perpendicular to the rotary lidar sensor 300 . Here, the predetermined angle may be set to increase the angle at intervals of 5° to 20° with respect to the vertical ground surface, but is not limited thereto.

3 is a flowchart illustrating a terrain flight method according to an embodiment of the present invention. The terrain flight method may be performed by the terrain flight apparatus 10, and a detailed description and overlapping description of the operation performed by the terrain flight apparatus 10 will be omitted.

The terrain flight method includes the steps of collecting lidar data (S310), collecting drone flight data (S320), generating terrain information in consideration of the drone flight posture (S330), and drone avoidance information considering the flight speed of the drone. It includes the step of generating (S340) and transmitting the drone avoidance information to the flight controller (S350).

In the step of collecting lidar data ( S310 ), lidar sensor data of at least 7200 revolutions per second may be collected. Here, more than 7200 revolutions per second is defined to describe the embodiment, and is not necessarily limited thereto.

In the step of collecting drone flight data (S320), the flight controller may collect flight data such as location information of the terrain flight device 10, posture information of the terrain flight device 10, and speed through the MAVLink protocol.

Here, the MAVLink protocol is a very lightweight messaging protocol for drone communication, but is not necessarily limited thereto.

In the step of generating terrain information in consideration of the drone flight posture ( S330 ), the terrain information may be generated by calculating an angle between the rotary radar sensor 300 and the ground surface from the drone posture information. Here, the drone posture information may be the posture information collected in step S320 of collecting drone flight data, but is not limited thereto, and the drone posture information may be transmitted through external communication.

Specifically, the step of generating topographic information in consideration of the drone flight posture (S330) is a rotational lidar sensor 300 that rotates the topographic information by a predetermined angle based on the first distance indicating the altitude to the ground and the altitude to the ground. A second distance indicating the distance to the terrain or object through It can be generated by comparing the fourth distance indicating the altitude of the terrain or object sensed from the angle with the pre-stored terrain data.

In the step of generating the drone avoidance information in consideration of the drone's flight speed ( S340 ), the drone's movement location information may be calculated by comparing the current speed and location information of the drone with the terrain information.

In the step (S340) of generating the drone avoidance information in consideration of the flight speed of the drone, movement location information including at least one information on the location, angle, and height at which the drone moves by using the location information and terrain information of the drone may be generated. .

In the step of transmitting the drone avoidance information to the flight control unit (S350), the location information to be moved may be transmitted to the flight control unit through the MAVLink protocol.

According to the above-described process, the drone can move while avoiding the terrain based on the location information, and it is possible to prevent accidents that may occur due to the surrounding obstacles or terrain during movement by accurately detecting the surrounding obstacles or terrain.

Although it is described that each process is sequentially executed in FIG. 3, this is only illustratively described, and those skilled in the art change the order described in FIG. Alternatively, it is possible to apply various modifications and variations by executing one or more processes in parallel or adding other processes.

4 is a flowchart illustrating generation of terrain information in a terrain flight method according to an embodiment of the present invention. The terrain information generation of the terrain flight method may be performed by the terrain flight device 10, and a redundant description will be omitted.

The terrain information generation of the terrain flight method includes the steps of checking the angle (pitch) and altitude (h) between the drone and the ground (S410), and converting the angle (pitch) value into a degree form so that it can be used in the lidar (S420) ), calculating the height of the obstacle from the distance according to the angle (S430) and completing the topographic information (S440).

In step S410 of confirming the angle (pitch) and altitude (h) between the drone and the ground surface, the angle and altitude with the ground surface located directly below the drone's current location may be checked ( S410 ). Altitude is the distance between the drone and the Earth's surface. In this case, when an obstacle is formed at the bottom, the reference of the ground surface may be an obstacle.

According to an embodiment of the present invention, the altitude between the drone and the ground may be the distance from the bottom of the drone to the ground, but is not necessarily limited thereto, and the distance from the top of the drone to the ground or the rotating radar device It may be a distance from the position of 300 to the ground surface, but is not necessarily limited thereto.

The step (S420) of converting the angle (Pitch) value into a degree form so that it can be used in the lidar is a unit for calculating a ruler or quantity, or a degree (degree) form indicating a numbered eye. can be switched Here, the degree is one of the units of the angle, and one rotation of the angle divided into 360 equal parts may be referred to as 1 degree.

In the step of calculating the height of the obstacle at the distance according to the angle ( S430 ), the height of the obstacle at the distance according to the angle may be calculated using Equation 1 . The calculation of the obstacle height at the distance according to the angle can be obtained as in [Equation 1].

In the above-mentioned [Equation 1], d represents the distance at which the terrain or object is sensed by the lidar sensor, d' represents the difference between the distance to the drone when there is no obstacle and the value of d, and h is the altitude of the drone and h' represents the height of the obstacle.

According to an embodiment of the present invention, h may represent a first distance, d may represent a second distance, d' may represent a third distance, and h' may represent a fourth distance.

Specifically, the ratio of the difference between the distance at which the terrain or object is detected by the lidar sensor and the distance to the drone when there is no obstacle and the difference in d value corresponds to the ratio of the difference between the height of the drone and the height of the obstacle to the height of the obstacle. proportional to each other Accordingly, the ratio of the second distance to the third distance may correspond to the ratio of the difference between the first distance and the fourth distance to the fourth distance, and the fourth distance representing the height of the obstacle is calculated with reference to Equation 1 above. can do.

In the step of calculating the height of the obstacle at the distance according to the angle ( S430 ), the height of the obstacle may be calculated with reference to Equation 1 . In addition, the step of calculating the height of the obstacle in the distance according to the angle ( S430 ) may be calculated through the topographic information generating unit 210 of the information generating unit 200 .

The step of completing the terrain information (S440) is the terrain information based on the altitude of the obstacle calculated through [Equation 1], the distance from the drone to the lidar sensor, the distance to the drone when there is no obstacle, and the altitude of the drone. can be completed.

An example of calculating the altitude of an obstacle based on Equation 1 above can be confirmed with reference to FIG. 6A . 6A is an exemplary diagram for calculating the height of an obstacle according to an embodiment of the present invention.

Although it is described that each process is sequentially executed in FIG. 4, this is only illustratively described, and those skilled in the art change the order described in FIG. 4 within the range that does not depart from the essential characteristics of the embodiment of the present invention Alternatively, it is possible to apply various modifications and variations by executing one or more processes in parallel or adding other processes.

5 is a flowchart illustrating the generation and transmission of a terrain flight device avoidance flight position of the terrain flight method according to an embodiment of the present invention. The terrain flight device avoidance flight position generation and transmission of the terrain flight method may be performed by the terrain flight device 10, and redundant description will be omitted.

Generating and transmitting the terrain flight device avoidance flight position of the terrain flight method is a step of confirming the terrain information to be used by checking the traveling direction with the drone (S510), the location of the obstacle to be avoided in the terrain information by checking the current speed (v) value of the drone and confirming the height (S520) and transmitting information on the position and height to which the drone should move (S530).

In the step of confirming the terrain information to be used by checking the traveling direction with the drone ( S510 ), topographic information located in the traveling direction of the drone may be confirmed based on the traveling direction. Here, the topographic information once checked can be stored and used again when moving. The direction of travel of the drone may be set to forward from 0 degrees to 90 degrees and backward from 90 degrees to 180 degrees, but is not limited thereto.

The step of confirming the location and height of the obstacle to be avoided in the terrain information by checking the current speed v value of the drone (S520) is an obstacle to be avoided according to the location and height of the obstacle to be avoided in the terrain information using Equation 2 angle can be calculated. Calculation of the angle of the obstacle to be avoided according to the location and height of the obstacle to be avoided in the terrain information can be obtained as in [Equation 2].

In the above-mentioned [Equation 2], d represents the distance at which the terrain or object is sensed by the lidar sensor, v represents the speed of the drone, and β represents the correction value by the acceleration value of the drone terrain flight device 10 indicates.

In the step (S520) of confirming the location and height of the obstacle to be avoided in the terrain information by checking the current speed (v) value of the drone, the angle of the obstacle to be avoided may be calculated with reference to FIG. 2 .

An example of calculating the height of an obstacle based on Equation 2 above can be confirmed with reference to FIG. 6B . 6B is an exemplary diagram for calculating an angle according to an embodiment of the present invention.

Although it is described that each process is sequentially executed in FIG. 5, this is only illustratively described, and those skilled in the art change the order described in FIG. Alternatively, it is possible to apply various modifications and variations by executing one or more processes in parallel or adding other processes.

According to an embodiment of the present invention, the terrain information generation unit 210 generates terrain information using lidar data and flight data. The terrain information may be generated including the shape and size through the distance between the terrain flying device 10 and the surrounding terrain or objects at the current location with respect to the terrain flying device 10 . At this time, the generated terrain information may be displayed on the location of the terrain flight device 10 to generate a terrain map. In this case, the generated topographical map may be compared with a pre-stored topographical map. Here, the information generating unit 200 may compare the generated topographic map with a pre-stored topographic map to remove overlapping regions to generate the generated topographic map. In this case, the overlapping area can be created by removing the generated topographical map from the pre-stored topographical map, removing the pre-stored topographical map from the generated topographical map, and a portion where a topography or object is created or disappeared from the pre-stored topographical map can be displayed to understand changes in the surrounding scene.

The terrain flight device 10 may compare the movement path according to the movement location information set before the flight and the converted movement path according to the avoidance flight performed by detecting the surrounding terrain or objects with each other. At this time, the comparison between the moving paths may be continuously performed while the terrain flight device 10 moves, and a further moving path value is calculated. Specifically, the terrain flight device 10 calculates a fuel value to be consumed more according to the value of the further moving path, and determines whether or not it can complete the moving position according to the moving position information. can be reset.

7 is a structural diagram illustrating a detailed structure of the rotary lidar sensor of FIG. 2 .

The rotation type lidar sensor 300 shown in FIG. 7 includes a support unit 310 , a body 320 , and a rotation type transmission/reception unit 330 .

The support 310 is a configuration for fixing the rotary lidar sensor 300 to the frame of the terrain flight device 10 .

The body 320 includes a lidar signal processing unit 322 and a rotation driving unit 324 .

The lidar signal processing unit 322 obtains a 2D or 3D lidar image of objects in the ground direction through signal processing on the lidar signal obtained through the rotary transceiver 330 . The rotary transceiver 330 includes first transceivers 331 and 332 and second transceivers 333 and 334 . The first transceiver includes a first light transmitting unit 331 and a first light receiving unit 332 . The second transceiver includes a second light transmitting unit 334 and a second light receiving unit 333 . Preferably, the surface formed by the second light transmitting unit 334 and the second light receiving unit 333 is substantially perpendicular to the rotation axis of the rotation driving unit 324 so that the second transmitting and receiving unit can calculate the distance to the object in the ground direction. can be implemented as The first transceiver unit is configured to form a surface formed by the first light transmitting unit 331 and the second light receiving unit 333 at a constant angle (5 degrees to 20 degrees) with the rotation axis so as to measure the distance between the rotation axis and the object in an oblique direction. .

In addition, it is preferable that the optical signals irradiated from the first light transmitting unit 331 and the second light transmitting unit 334 are modulated with different wavelengths or different from each other. The light irradiation area formed by the optical signal transmitted from the first light transmitting unit 331 and the light receiving area receivable by the first light receiving unit 332 should at least partially cross each other. Here, the crossed area is the first crossed area 342 . Similarly, the second light transmitting unit 334 and the second light receiving unit 333 also have a second intersecting area 344 according to the original viewing angle. In particular, it is more preferable that the light receiving areas of the first light receiving unit 332 and the second light receiving unit 333 intersect at least partially in the heterogeneous intersection area 346 . Since the heterogeneous cross region exists, the first light receiving unit 331 may receive at least a part of the signal transmitted from the second light transmitting unit 334 and reflected from the object, and the second light receiving unit 333 is the first light transmitting unit A signal generated in 331 and reflected from the object may be received. Since the incident optical signals have different wavelengths or different modulation methods, each light receiving unit can distinguish the corresponding signals from each other.

In the case of the rotating lidar of the present structure, the strength of the signal received from the first light receiving unit 332 and the second light receiving unit 333 may be different, which means that the object under the terrain flying device 10 at that point is It can be seen that the structure has a vertical direction. A region in which signal strength is observed differently is a boundary of an object, for example, a side of a building, a boundary of a road, a boundary of an area in which crops exist, and a boundary of an area in which trees exist. Through this, it is possible to grasp the vertical change of the object to be observed and the boundary characteristics of the vertical direction.

Also, the first transceivers 331 and 332 and the second transceivers 333 and 334 may be implemented in an array structure, but are not limited thereto.

8 is a structural diagram illustrating a detailed structure of a sensor according to another embodiment of the present invention. The sensor shown in FIG. 8 includes a rotary lidar sensor 300 ′ and an image acquisition unit 400 ′. The rotation type lidar sensor 300 ′ includes a support unit 310 ′, a body 320 ′, and a rotation type transmission/reception unit 330 ′. The main body 320 ′ includes a lidar signal processing unit 322 ′ and a rotation driving unit 324 ′, and descriptions of common items will be omitted below.

Compared with the previous FIG. 7, the rotational lidar sensor 300' of FIG. 8 has an angle formed by the front surfaces of the first transceivers 331' and 332' and the second transceivers 333', 334'. are prepared differently. That is, the angle between the front surface formed by the first light transmitting unit 331 ′ and the first light receiving unit 332 ′ and the second light transmitting unit 334 ′ and the second light receiving unit 333 ′ and the direction of the support portion are different from each other. The first transceivers 331 ′ and 332 ′ and the second transceivers 333 ′ and 334 ′ may be implemented in an array structure, but are not limited thereto.

The light transmitting unit and the light receiving unit should be arranged to have a first intersecting area 342' and a second intersecting area 344', respectively, and the first light receiving unit 332' and the second light receiving unit 333' have a heterogeneous intersecting area 346 '), it is preferable to arrange to intersect. Through this, it is possible to secure a wider viewing angle as well as a distance to the object based on the central point at which the rotation driving unit 324' is located.

The image acquisition unit 400' includes a lens 410', an image sensor 420', and an image processing unit 430'. The image sensor 420' generates an image from visible light information incident through a lens. The image processing unit 430 ′ analyzes a visible light image of a feature located below the terrain flight device 10 . The image processing unit 430 ′ may determine the boundary between the topographic features and the location of the current topographic flight device 10 through visible light image analysis. Also, the image processing unit 430 ′ may further generate a composite image according to depth values according to the lidar image and the visible light image.

According to an embodiment of the present invention, the terrain flight device 10 is based on a topographic map generated through an image generated from visible light information incident through a lens and topographic information acquired through the rotary lidar sensor 300 . An image can be input as an input image. Here, the image acquired through the rotary lidar sensor 300' can check the distance from the object at the location of the terrain flight device 10, and confirm the outline of each object, and the image acquisition unit 400' The image acquired through can confirm the overall shape of the object at the location of the terrain flight device 10 . The terrain flight device 10 extracts a plurality of feature maps for image improvement using an input residual block (resblock) that filters the input image by convolutional operation, and combines the extracted feature maps with each other to combine features An image improvement unit (not shown) that generates a map, generates a feature map by using an output residual block that generates a map, performs convolution operation on the integrated feature map, and filters the output residual block, and generates an output image with improved distortion through the generated feature map ) may be further included. Therefore, the image improvement unit generates an output image with improved distortion of the image through the above-described process by using each image acquired through the rotary lidar sensor 300 ′ and the image acquisition unit 400 ′ as an input image. Here, the image distortion improvement may include, but is not limited to, focus improvement, exposure improvement, contrast ratio improvement, distance improvement, and the like. In particular, the distance improvement can be made based on the image acquired through the rotary lidar sensor 300', because the rotary lidar sensor 300' can more accurately calculate the distance to the object. .

According to another embodiment of the present invention, a vertical gimbal (not shown) may be further included between the rotary lidar sensor 300 ′ and the body of the terrain flying device 10 . Through the vertical gimbal structure, one transceiver among the two transceivers included in the rotary lidar sensor 300 ′ may be oriented vertically downward to easily obtain a vertical distance.

According to another embodiment of the present invention, the terrain flight device 10 may further include an image acquisition unit 400 ′ facing forward or upward in the front with respect to the flight direction. The processor (main processor or image processing processor) included in the terrain flight device 10 may detect a landmark that is commonly present in image frames adjacent to each other among continuously acquired image frames. In particular, it is possible to detect feature points in a vertical direction with respect to the ground surface included in the landmark. For example, vertical feature points (eg, edge feature points, etc.) of the landmark in the image frame of the first view and the vertical direction feature points of the landmark in the image frame of the second view adjacent to the first view can be determined. . The processor uses the flight distance moved by itself between the first time point and the second time point and the vertical direction feature points obtained at the first and second time points, the horizontal direction forming a vertical vector formed by the vertical direction feature points A direction vector can be calculated. The processor may generate a flight control signal for flying in the direction of the horizontal direction vector by using the horizontal direction vector calculated here. Accordingly, the terrain flying device 10 can fly in a direction parallel to the horizon, which has the effect of reducing energy consumption according to the altitude change of the terrain flying device 10 . In addition, the processor may determine the route by further utilizing information about the elevation above sea level of the area previously acquired and stored in the memory and distance information from the vertical downward direction observed in the actual flight. In this case, if the flight continues according to the current flight direction, there is an advantage in that it is possible to further reduce power consumption due to complicated calculations by reducing the calculation for predicting the possibility of collision with a dangerous terrain feature such as a collision.

Even though all the components constituting the embodiment of the present invention described above are described as being combined or operated in combination, the present invention is not necessarily limited to this embodiment. That is, within the scope of the object of the present invention, all the components may operate by selectively combining one or more.

The above description is merely illustrative of the technical idea of the present invention, and various modifications, changes, and substitutions are possible within the range that does not depart from the essential characteristics of the present invention by those of ordinary skill in the art to which the present invention pertains. will be. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are for explaining, not limiting, the technical spirit of the present invention, and the scope of the technical spirit of the present invention is not limited by these embodiments and the accompanying drawings . The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

10: Terrain Flying Device
100: flight control
200: information generating unit
300: rotary lidar sensor

Claims (10)

In the terrain flying device,
a rotating lidar sensor that generates lidar data by sensing surrounding terrain or objects;
a flight controller for collecting flight data including at least one of the location information of the terrain flight device, attitude information or speed data of the terrain flight device, and receiving movement location information to control the flight; and
and an information generator for generating terrain information based on the lidar data, and calculating the movement location information using the terrain information and the flight data,
The information generating unit analyzes the lidar data generated by the rotary lidar sensor to generate information on the shape of the terrain or an object determined according to the reflection intensity of the rotational lidar sensor, and the flight controller includes the terrain or Determining whether to avoid the terrain flying device based on the shape information of the object and the size of the terrain or object,
an image acquisition unit that acquires and analyzes a visible light image of the terrain or object, and generates a composite image according to a depth value of the LIDAR data and the visible light image; and
By using the visible light image generated from the visible light information incident through the lens and the image according to the topographic map generated through the topographic information acquired through the rotary lidar sensor as an input image, to generate an output image with improved distortion Further comprising an image enhancement unit,
The image enhancement unit extracts a plurality of feature maps for image enhancement using an input residual block that filters the input image by convolutional operation, and combines the extracted feature maps with each other to create an integrated feature map and generating a feature map using an output residual block that filters the integrated feature map by convolution operation, and generates an output image with improved distortion through the generated feature map. . According to claim 1,
The rotary lidar sensor,
a first distance indicating an altitude to the surface perpendicular to the terrain flying device; and
Terrain flight device, characterized in that for generating the lidar data by detecting a second distance indicating the distance to the terrain or object by rotating by a predetermined angle based on the ground surface perpendicular to the terrain flight device. 3. The method of claim 2,
The information generating unit,
and a terrain information generator for generating terrain information by using the lidar data and the flight data,
The terrain information generation unit,
calculating a third distance indicating the distance from the location of the terrain or object to the ground surface according to the predetermined angle;
Terrain flight device, characterized in that by using the first distance, the second distance, and the third distance to calculate a fourth distance indicating the altitude of the terrain or object sensed at the predetermined angle. 4. The method of claim 3,
The terrain information generation unit,
Terrain flying device, characterized in that for calculating the predetermined angle using the correction value by the second distance, the flight data and the acceleration value of the terrain flying device. 4. The method of claim 3,
The terrain information generation unit,
The terrain information by comparing the location of the terrain or object identified through the first distance, the second distance, the third distance, and the fourth distance based on the location information of the terrain flight device with pre-stored terrain data Terrain flight device, characterized in that for generating. 6. The method of claim 5,
The information generating unit,
Further comprising a movement information generation unit for generating the movement position information for the terrain flight apparatus to move while avoiding the surrounding terrain or objects by using the location information of the terrain flight device, the predetermined angle, and the terrain information,
The flight controller comprises at least one of the position, angle, and height information at which the terrain flight device moves based on the movement location information to control the flight of the terrain flight device. According to claim 1,
The flight control unit,
Resets the movement path according to the movement location information, and controls the posture and speed of the terrain flight device from the current location of the terrain flight device to the movement path based on the movement path,
The moving path is a terrain flying device, characterized in that it is set as a path for driving while avoiding close to the minimum distance without collision with the terrain or object. 8. The method of claim 7,
The movement path is
Terrain flight device, characterized in that it is a path from a point in time when the terrain flight device recognizes the surrounding terrain or object to a point in time when it moves while avoiding the surrounding terrain or object. delete According to claim 1,
The rotary lidar sensor,
a first transceiver including a first light transmitting unit and a first light receiving unit receiving a signal transmitted and reflected from the first light transmitting unit; and
a second transmitting/receiving unit including a second light transmitting unit and a second light receiving unit receiving a signal transmitted and reflected from the second light transmitting unit;
Directions to which the first light transmitting unit and the first light receiving unit are directed and the directions to which the second light transmitting unit and the second light receiving unit are directed form different angles, and the light receiving area of the first light receiving unit and the second light receiving unit are at different angles The light receiving area of the terrain flight device, characterized in that it is arranged to intersect each other at least in the heterogeneous intersection area.

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