KR102670467B1 - Smart stick - Google Patents

Abstract

The present invention relates to a smart wand. A smart wand according to an embodiment of the present invention includes a wand body, an object recognition unit disposed on the wand body and emitting and receiving a laser beam, a moisture sensor disposed on the lower side of the wand body and detecting water, and an object recognition unit and moisture sensor. It includes a processor connected to enable communication with the object recognition unit, which recognizes an object located in the direction in which the object recognition unit emits a laser beam. The processor generates information about the object using signals received from the object recognition unit, and the information about the object is These are the shape of the object, the distance between the object recognition unit and the object, the moving speed of the object, and the direction of movement of the object.

Description

SMART STICK}

The present invention relates to a smart cane, and more specifically, to a smart cane for the visually impaired that is capable of recognizing objects using a LiDAR sensor.

LiDAR is a technology that can detect the distance, direction, and speed of an object by shining a laser on the target. LIDAR is generally used for more precise object recognition and distance measurement by utilizing the advantages of lasers that can generate pulse signals with high energy density and short periods.

LiDAR technology, which has been continuously developed for the purpose of earth science and space exploration, is currently mounted on aircraft and satellites and is used as a major means for precise observation of the Earth's topography and environment. In addition, on the ground, object recognition systems have been commercialized in simple forms such as measuring long distances and cracking down on speeding violations.

In particular, as research and development and commercialization of self-driving cars progress, LiDAR is attracting attention as it is used as a core technology for laser scanners and 3D video cameras mounted on cars.

However, in fields other than those mentioned above, domestic-based technology for LiDAR is lacking, and LiDAR is not properly commercialized or developed. This is because compared to the United States, Europe, and Japan, research in the field of earth science, which is the reason for the development of lidar technology, is relatively slow in Korea. For this reason, despite LiDAR sensors becoming smaller than in the past, LiDAR technology has not been commercialized for personal equipment.

Meanwhile, for the visually impaired, not only information about the distance to an object but also information about the object itself, the moving speed of the object, and the direction of movement of the object are also important. Knowing this allows visually impaired people to predict and respond to the next situation.

However, conventional walking sticks for the visually impaired use ultrasonic sensors, infrared sensors, and radar, rather than multi-channel lidar sensors. Ultrasonic sensors are capable of recognizing objects, but have the problem of significantly low resolution. Additionally, infrared sensors have a problem in that the recognition distance is only a few millimeters. Radar can acquire a variety of information about objects, but has the problem of being expensive, having low reflectivity for non-metallic objects, and being bulky to place on a wand.

In addition, even equipment for the visually impaired using a LiDAR sensor has the problem of not being able to detect water accumulated on the road floor.

Meanwhile, the above-described background technology is technical information that the inventor possessed for deriving the present invention or acquired in the process of deriving the present invention, and cannot necessarily be said to be known technology disclosed to the general public before filing the application for the present invention. .

Korean Patent No. 1898582 (2018.09.07)

The problem that the present invention aims to solve is to provide a smart wand that can recognize objects or measure the distance to the object, the moving speed of the object, and the direction of movement of the object by placing a multi-channel LiDAR sensor on the cane body. .

In addition, another problem that the present invention aims to solve is to provide a smart wand that can detect water present on the floor by having a moisture sensor placed on the lower side of the wand body.

In addition, another problem that the present invention aims to solve is to provide a smart cane that is connected to a scanner with a gimbal mount and accurately recognizes objects even when the cane body is shaken.

In addition, another problem that the present invention aims to solve is to provide a smart wand that allows the user to move it more conveniently by placing a moving means on the lower side of the wand body.

In addition, another problem that the present invention aims to solve is a wireless transmitter disposed on the body of the cane, which can transmit object information or location information using a GPS sensor to a speaker, vibrator, smartphone, or wireless earphone and deliver it to the user. The goal is to provide a smart wand.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

In order to solve the above-described problem, a smart wand according to an embodiment of the present invention includes a wand body, an object recognition unit disposed on the wand body and emitting and receiving a laser beam, and a moisture disposed on the lower side of the wand body and detecting water. It includes a sensor and a processor connected to communicate with the object recognition unit and the moisture sensor, wherein the object recognition unit recognizes an object located in the direction in which the object recognition unit emits a laser beam, and the processor recognizes the object using the signal received from the object recognition unit. Information is generated, and the object information is the shape of the object, the distance between the object recognition unit and the object, the moving speed of the object, and the direction of movement of the object.

According to another feature of the present invention, the object recognition unit includes a light source that emits a laser beam, a detection unit that receives the laser beam reflected from the object, and at least one of the laser beam emitted by the light source and the laser beam reflected from the object. It may include a scanner that reflects and changes the direction of travel of the reflected laser beam.

According to another feature of the present invention, the object recognition unit includes a light source that emits a multi-channel laser beam, reflects a laser beam of a specific wavelength among the multi-channel laser beams emitted from the light source, and laser beams of the remaining wavelengths. At least one beam splitter that transmits, a first detection unit that receives the laser beam reflected by the beam splitter and measures the radiation time of the laser beam emitted by the light source, and an optical detector of the laser beam transmitted from the beam splitter. A modulator that changes the characteristics, a collimating lens that collimates the laser beam that has passed through the modulator, a laser beam collimated by the collimating lens, and a laser beam reflected from an object that is reflected and reflected. A scanner that changes the direction of the laser beam, a condenser lens that focuses the laser beam reflected from the object, and a condenser lens that receives the focused laser beam, measures the return time of the laser beam focused in the condenser lens, and measures the return time of the laser beam focused on the object. It may include a second detection unit that captures an image.

According to another feature of the present invention, the scanner may be any one of a MEMS (Micro Electro Mechanical Systems) scanner, a liquid lens scanner, a liquid crystal scanner, and a galvo scanner, and may be gimbal mounted. It can be fixed to a gimbal mount, and the gimbal mount can rotate the scanner in at least one axis and fix the optical axis of the scanner.

According to another feature of the present invention, the detection unit may include an image sensor, and the image sensor may include any one of a photodiode, a photo multiplier tube (PMT), a charge coupled device (CCD), and a complementary metal oxide semiconductor (CMOS). It can be included.

According to another feature of the present invention, the smart wand may further include at least one movement means disposed on the lower side of the wand body.

According to another feature of the present invention, the smart wand may further include a speaker or a vibrator, and the speaker or vibrator may be disposed on the wand body and may transmit a signal about information about the object to the user, and may include a processor and Can be connected to enable communication.

According to another feature of the present invention, the smart wand may further include a wireless transmitter and a GPS sensor disposed on the wand body, the wireless transmitter and the GPS sensor may be connected to communicate with the processor, and the GPS sensor may be configured to determine the user's location. Information can be generated, and the wireless transmitter can transmit signals about object information and user location information to the smartphone.

According to another feature of the present invention, the wireless transmitter can transmit a signal about information about an object to the wireless earphone.

According to another feature of the present invention, the smart wand can transmit an alarm informing the user of danger to the smartphone or wireless earphone according to information about the object.

According to one of the means for solving the problem of the present invention, a smart wand includes a multi-channel lidar sensor and a processor disposed on the wand body, thereby recognizing an object or measuring the distance to the object, the moving speed of the object, and the direction of movement of the object. can do. Furthermore, the smart wand according to the present invention can recognize images of objects in front at once through a multi-channel lidar sensor.

According to one of the means for solving the problem of the present invention, a smart wand can detect water existing on the floor by a moisture sensor disposed on the lower side of the wand body.

According to one of the means for solving the problem of the present invention, a smart wand can accurately recognize objects even if the wand body is shaken by a gimbal device disposed on the wand body.

According to one of the means for solving the problem of the present invention, the smart wand can be moved more conveniently by the user by means of a moving means disposed on the lower side of the wand body.

According to one of the means for solving the problem of the present invention, the smart wand transmits object information or location information using GPS to the speaker, vibrator, smartphone, or wireless earphone by means of a processor, speaker, or vibrator disposed on the wand body. It can be passed on to the user.

The effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description below. will be.

1 is a smart wand according to an embodiment of the present invention.
Figure 2 is a block diagram showing the interior of a wand body according to an embodiment of the present invention.
Figure 3 is a block diagram showing the inside of an object recognition unit to explain the progress of a laser beam according to another embodiment of the present invention.
Figure 4 is a block diagram showing the inside of an object recognition unit to explain the progress of a laser beam according to another embodiment of the present invention.

The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and will be implemented in various different forms. The present embodiments only serve to ensure that the disclosure of the present invention is complete and that common knowledge in the technical field to which the present invention pertains is not limited. It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims.

The shapes, sizes, proportions, angles, numbers, etc. disclosed in the drawings for explaining embodiments of the present invention are illustrative, and the present invention is not limited to the matters shown. Additionally, in describing the present invention, if it is determined that a detailed description of related known technologies may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. When 'includes', 'has', 'consists of', etc. mentioned in the specification are used, other parts may be added unless 'only' is used. In cases where a component is expressed in the singular, the plural is included unless specifically stated otherwise.

When interpreting components, it is interpreted to include the margin of error even if there is no separate explicit description.

Although first, second, etc. are used to describe various elements, these elements are not limited by these terms. These terms are merely used to distinguish one component from another. Accordingly, the first component mentioned below may also be the second component within the technical spirit of the present invention.

Unless otherwise specified, like reference numerals refer to like elements throughout the specification.

Each feature of the various embodiments of the present invention can be partially or fully combined or combined with each other, and as can be fully understood by those skilled in the art, various technical interconnections and operations are possible, and each embodiment may be implemented independently of each other. It may be possible to conduct them together due to a related relationship.

Hereinafter, the present invention will be described in detail with reference to the attached drawings.

1 is a smart wand according to an embodiment of the present invention.

First, referring to FIG. 1, the smart wand 100 includes a wand body 110, an object recognition unit 120, and a processor 140, and includes a speaker or vibrator 160. In addition, the smart wand 100 may further include a moisture sensor 130, a means of transportation 150, a wireless transmitter 170, or a GPS sensor 180.

The wand body 110 constitutes the body of the smart wand 100. The material of the wand body 110 may be a metal material such as aluminum alloy, or a plastic material including polycarbonate (PC) and polypropylene (PP). The wand body 110 may have sufficient strength to withstand the user's weight.

An object recognition unit 120 and a processor 140 are disposed on the wand body 110, and a speaker or vibrator 160 is disposed. Additionally, a moisture sensor 130 is disposed on the lower side of the wand body 110. In FIG. 1 , the positions of each component of the smart wand 100 are exemplary, and each component may be disposed in various locations. For example, the speaker or vibrator 160 may be placed inside the wand body 110 or attached to the outside of the wand body 110. Additionally, the moisture sensor 150 may be placed on the lower side inside the wand body 110. A pad connected to the moisture sensor 150 and a conductor may be attached to the outside of the lower side of the wand, or may be attached to the outside of the lower side of the wand body 110.

Referring to Figure 1, the object recognition unit 120 is disposed inside the wand body 110. The object recognition unit 120 radiates a laser beam and receives the laser beam reflected by the object 127 to acquire the laser beam emission time, laser beam return time, and image of the object 127.

Preferably, the object recognition unit 120 may include a LiDAR sensor. In this case, the processor 140, which has received the information acquired by the object recognition unit 120, can calculate the distance between the object recognition unit 120 and the object 127.

More preferably, the object recognition unit 120 may include a multi-channel lidar sensor that is a frequency modulated continuous wave radar (FMCW). In this case, the processor 140, which has received the information acquired by the object recognition unit 120, determines not only the distance between the object recognition unit 120 and the object 127, but also the shape of the object 127 and the movement of the object 127. The speed and direction of movement of the object 127 can be calculated. Furthermore, the object recognition unit 120 can recognize the image of the object 127 at once by utilizing a multi-channel laser beam and a multi-channel radar sensor capable of detecting it.

In addition, the object recognition unit 120 can transmit and receive data with the processor 140 to generate various information about the object 127 and the surrounding environment. Here, various information about the object 127 and the surrounding environment may be the temperature of the object 127 or the characteristics of atmospheric substances. Additionally, various information generated by the object recognition unit 120 may be an image of the object 127 or the size, surface material, or shape of the object 127.

Additionally, the object recognition unit 120 may be a solid-state or a rotatable type that has a built-in gear and motor and can radiate or detect a laser beam at 360 degrees.

The object recognition unit 120 is connected to enable communication with the processor 140. The object recognition unit 120 transmits the acquired data to the processor 140 as an electrical signal.

Since the object recognition unit 120 recognizes the object 127 using a laser beam, the object 127 recognition time is very fast and the resolution is high compared to an ultrasonic sensor using ultrasonic waves. In addition, since the recognition distance of the object 127 by the object recognition unit 120 is tens of meters, the object recognition unit 120 can prevent accidents by transmitting data of the object 127 that is farther away than the infrared sensor to the user.

Referring to Figure 1, the moisture sensor 130 is disposed on the lower side of the wand body 110. The moisture sensor 130 can detect water flowing or stagnant on the ground that the object recognition unit 120 cannot detect. The moisture sensor 130 can detect water using any one of infrared absorption, microwave, and electrical resistance methods.

The moisture sensor 130 is connected to enable communication with the processor 140. The moisture sensor 130 transmits the acquired data to the processor 140.

Since the moisture sensor 130 is disposed on the smart wand 100, the smart wand 100 can prevent the user from stepping on water.

Referring to Figure 1, the processor 140 is disposed inside the wand body 110. The processor 140 may be connected to communicate with each component that performs various functions in the smart wand 100. The processor 140 may be a central processing unit.

The processor 140 is connected to enable communication with the object recognition unit 120 and the moisture sensor 130 disposed on the wand body 110. Additionally, the processor 140 may be connected to enable communication with the speaker or vibrator 160, and may be connected to enable communication with the wireless transmitter 170 and the GPS sensor 180. Furthermore, the processor 140 may be connected to all components that require calculation or data transmission and reception among the components arranged in the smart wand 100.

The processor 140 may receive data acquired by the object recognition unit 120 and generate information on the object 127. In detail, the processor 140 can calculate the distance to the object 127 by receiving the radiation time of the laser beam acquired by the object recognition unit 120 and the return time of the laser beam reflected by the object 127. Additionally, the processor 140 may receive the frequency of the returned laser beam acquired by the object recognition unit 120 and calculate the moving speed and direction of movement of the object 127. Furthermore, the processor 140 can obtain the overall image, size, surface material, or shape of the object 127 through the returned laser beam acquired by the object recognition unit 120.

More specifically, the processor 140 multiplies the difference between the radiation time of the laser beam and the return time of the laser beam reflected by the object 127 by the speed of light (C), divides this by 2, and The distance to the object 127 can be calculated.

로 나누어 사물(127)의 이동 속도 및 사물(127)의 이동 방향을 산출할 수 있다.In addition, when the scanner reflects the laser beam and the angle of the optical output and the optical axis is *?*, the processor 140 calculates the difference between the frequency of the laser beam emitted from the light source and the frequency of the laser beam reflected from the object 127. Multiply by the wavelength of the laser beam emitted from the light source, and

By dividing by , the moving speed of the object 127 and the moving direction of the object 127 can be calculated.

This calculation principle uses the Doppler effect. Therefore, if the frequency of the laser beam reflected from the object 127 is greater than the frequency of the laser beam emitted from the light source, the moving direction of the object 127 may be a direction closer to the object recognition unit 120. Conversely, if the frequency of the laser beam reflected from the object 127 is lower than the frequency of the laser beam emitted from the light source, the moving direction of the object 127 may be away from the object recognition unit 120.

Additionally, the processor 140 may receive the image of the object 127 captured by the object recognition unit 120 and recognize the object 127 or the surrounding environment. For example, it is possible to determine what the object 127 captured by the object recognition unit 120 is through a feature map that has already been learned and extracted using a deep learning AI algorithm. Additionally, the processor 140 may generate a 2D or 3D map of the surrounding environment through the image of the surrounding environment captured by the object recognition unit 120.

Additionally, the processor 140 can transmit object information generated by calculating the data acquired by the object recognition unit 120 to the speaker or vibrator 160 and to the wireless transmitter 170. Additionally, the processor 140 may receive data acquired by the moisture sensor 130 and determine whether water is detected on the floor. Additionally, the processor 140 may transmit the user's location information generated by the GPS sensor 180 to the speaker or vibrator 160 and to the wireless transmitter 170.

Referring to Figure 1, at least one moving means 150 is disposed on the lower side of the wand body 110. In Figure 1, the moving means 150 is represented by two moving wheels, but the moving method or the number of moving means 150 is not limited.

Since the moving means 150 is disposed below the wand body 110, the user can move the smart wand 100 more easily. Additionally, since the user does not lift or put down the smart wand 100 when moving the smart wand 100, the object recognition unit 120 can stably detect the object 127 even when the smart wand 100 is moving. there is.

Referring to Figure 1, a speaker or vibrator 160 is disposed on the wand body 110. The placement position of the speaker or vibrator 160 is not limited, and may be placed so that the user can effectively hear sound information about an object or effectively feel vibration information.

The speaker or vibrator 160 may receive information on the object 127 or user location information received from the processor 140 and output it as sound. The sound output by the speaker or vibrator 160 may be expressed in Korean. Additionally, in addition to the above information, the speaker or vibrator 160 may output an alarm to inform the user of danger according to a signal sound for turning on and off and information on the object 127.

Referring to Figure 1, the wireless transmitter 170 is disposed on the wand body 110. The wireless transmitter 170 wirelessly transmits information on the object 127, user location information, or alarm information indicating danger received from the processor 140 to a smartphone or wireless earphone. The wireless transmitter 170 can transmit wirelessly using Bluetooth.

In addition to the components of the smart wand 100 described above, other components that can be easily combined by those skilled in the art and do not impair the technical features of the present embodiment may be further included in the smart wand 100. For example, a battery that supplies power to drive the smart wand 100, an operation panel that adjusts the output of the speaker or vibrator 160 or turns on and off the power of the smart wand 100, and a user can use the smart wand 100. ) may further include a handle used to move the device.

In addition, according to the above-described embodiment, the smart wand 100 can not only measure the distance to the object 127, but also recognize the object 127 by checking the image of the entire object 127 at once. And the moving speed and direction of movement of the object 127 can be calculated.

In addition, according to the above-described embodiment, the smart wand 100 has a very fast object 127 recognition time, high resolution, and can recognize objects tens of meters away.

Additionally, according to the above-described embodiment, the smart wand 100 can transmit a signal informing the user of information about the object 127, location information, or danger through sound. Through this configuration, the smart wand 100 can prevent accidents by touching the user and can know the current location. At this time, the smart wand 100 can transmit information about the object to the user by voice.

In addition, according to the above-described embodiment, the smart wand 100 can wirelessly transmit a signal informing the user of information, location information, or danger of the object 127 and deliver it to the user's smartphone or wireless earphone. As a result, the user can receive the information and signals through a smartphone, and can also receive the information and signals even while wearing wireless earphones.

Additionally, according to the above-described embodiment, the smart wand 100 can detect water that is pooled or flowing on the floor and transmit information about the water to the user. This allows the user to change the direction of movement to a place without water.

Figure 2 is a block diagram showing the interior of a wand body according to another embodiment of the present invention.

Referring to Figure 2, the object recognition unit 220 is disposed inside a portion of the wand body 210, and the object recognition unit 220 includes a light source 221, a scanner 225, and a detection unit 229. do. The laser beam emitted from the light source 221 is reflected by the scanner 225 and irradiated to the object 227, and the laser beam reflected by the object 227 is reflected again by the scanner 225 and received by the detection unit 229. do.

Referring to FIG. 2, the light source 221 radiates a laser beam to the scanner 225. The light source 221 may include a laser diode. The wavelength of the laser beam emitted from the light source 221 may be 600 nm to 1550 nm. Additionally, the light source 221 may emit a multi-wavelength laser beam. That is, although the light source 221 is shown as one in FIG. 2, it may simultaneously emit a plurality of laser beams having different wavelengths.

The light source 221 may include an optical isolator (isolator) or a combination of a polarizer and a Faraday rotator. Accordingly, the laser beam emitted from the light source 221 may pass through an optical separator or a combination of a polarizer and a Faraday rotor.

Referring to FIG. 2, the scanner 225 reflects both the laser beam emitted from the light source 221 and the laser beam reflected from the object 227. Since FIG. 2 is only an example, the scanner 225 may reflect both the laser beam emitted by the light source 221 and the laser beam reflected from the object 227, or one of them.

The scanner 225 may include at least one scanning mirror that reflects the laser beam emitted from the light source 221 and a rotating part that rotates the scanning mirror. More specifically, the scanner 225 may include a mirror whose horizontal axis rotates and a mirror whose vertical axis rotates, and each mirror may be connected to a corresponding actuator to rotate. In this case, the scanner 225 can perform two-dimensional scanning.

The scanner 225 may be a Micro-Electro Mechanical Systems (MEMS) scanner. In optics, MEMS is a technology that integrates optical elements, mechanical parts, and electronic parts into one element. In this case, the scanner 225 can collect imaging data by scanning light to a predetermined area and receiving reflected light through a MEMS process.

Additionally, the scanner 225 may be one of a liquid lens scanner and a liquid crystal scanner. In this case, the scanner 225 may further include a plastic housing for a stable structure. In this case, the curvature of the liquid lens or liquid crystal may be changed when the scanner 225 receives a driving signal such as current or voltage. In this case, the scanner 225 is easy to manufacture and can be placed in a small-sized device.

Additionally, scanner 225 may be a galvo scanner. This can be understood as a galvanometer scanner. A galvo scanner may be a combination of a galvo mirror that reflects the laser beam incident on the scanner and corrects distortion of the laser beam, and a brushless direct current (BLDC) motor that controls the rotation of the galvo mirror.

The traveling direction of the laser beam can be adjusted in various ways depending on the laser beam reflection direction of the scanner 225.

Referring to FIG. 2, a gimbal mount 226 may be arranged to surround the scanner 225. The scanner 225 may be fixed on a gimbal mount 226. The gimbal mount 226 may include an acceleration sensor or a gyro sensor, so that the gimbal mount 226 can measure the rotational direction or rotational speed of the cane body 110. Additionally, the gimbal mount 226 rotates the scanner 225 about at least one axis.

Additionally, the gimbal mount 226 has at least one rotation axis. When the gimbal mount 226 has multiple rotation axes, one rotation axis forms a right angle to each of the other rotation axes. The gimbal mount 226 may be one of 1 axis, 2 axis, and 3 axis.

As a result, the optical axis of the scanner 225 is fixed, so that the scanner 225 can stably radiate a laser beam to the object 227 or stably receive the laser beam reflected from the object 227 even when the wand body is shaken. there is.

Referring to FIG. 2, the detection unit 229 receives the laser beam returned from the object 227 and reflected by the scanner 225. The detection unit 228 may include an image sensor. The image sensor may be one of a photodiode, a photo multiplier tube (PMT), a charge coupled device (CCD), and a complementary metal oxide semiconductor (CMOS).

The detection unit 229 may detect the arrival time of the laser beam irradiated to the detection unit 229 or acquire data about the image of the object 227 using the laser beam. The detection unit 229 transmits the acquired data to the processor, and the processor can generate information about the object 227 using the data.

According to the above-described embodiment, the direction of movement of the laser beam is changed by the reflective scanner 225, so the object recognition unit 220 can be placed inside the cane body 210 even though the thickness of the cane body 210 is thin. there is. In addition, the laser beam radiated from the smart wand 200 and the laser beam reflected from the object 227 can stably reach the object recognition unit 220 through the gimbal mount 226 connected to the scanner 225. Accordingly, the smart wand 200 according to an embodiment of the present invention can accurately determine information about the object 227 in front and deliver it to the user. In particular, the smart wand 200 receives a laser beam consisting of multiple wavelengths through the multi-channel scanner 225 and the object recognition unit 220 to determine the image, size, surface material, and shape of the object 227. You can obtain them all at once.

Figure 3 is a block diagram showing the inside of an object recognition unit to explain the progress of a laser beam according to another embodiment of the present invention.

Referring to FIG. 3, the object recognition unit 320 includes a light source 321, a beam splitter 322, a modulator 323, a collimating lens 324, a scanner 325, a condensing lens 328, and a first detection unit. It includes (329a) and a second detection unit (329b).

Referring to FIG. 3, the light source 321 radiates a multi-channel laser beam to the beam splitter 322. Multi-channel laser beams are multiple laser beams with different wavelengths. The wavelength of each laser beam may be any one of 600 nm to 1550 nm. The light source 321 may include a plurality of laser diodes.

The light source 321 may include an optical isolator or a combination of a polarizer and a Faraday rotator. Accordingly, the laser beam emitted from the light source 321 may pass through an optical separator or a combination of a polarizer and a Faraday rotor.

Referring to FIG. 3, the beam splitter 322 is an optical device that reflects a specific wavelength of incident light and transmits the remaining wavelengths. The beamsplitter 322 splits the multi-channel laser beam emitted from the light source 321 into a laser beam in the direction of the modulator 323 and a laser beam in the direction of the first detection unit 329a.

The form of the beam splitter 322 may be one of a glass cube with two prisms glued together, a half-silvered mirror with partially deposited metal, and a dichroic mirror prism assembly. You can.

Like the scanner 225 of FIG. 2 described above, only one beam splitter 322 or a plurality of beam splitters 322 may be disposed. Additionally, the reflection direction of the beam splitter 322 can be adjusted in various ways depending on the embodiment.

Referring to FIG. 3, the modulator 323 receives the laser beam transmitted from the beam splitter 322, changes the optical characteristics, and radiates it to the collimating lens 324. Here, the optical properties include the amplitude, frequency, phase, and polarization plane of the laser beam. The method by which the modulator 323 modulates the laser light may be one of direct modulation and external modulation.

Referring to FIG. 3, a collimating lens 324 collimates the laser beam whose optical characteristics have been changed in the modulator 233 and radiates it to the scanner 325. The collimating lens 324 is a curved optical lens that collimates light rays.

Referring to FIG. 3, the scanner 325 changes the irradiation direction of the laser beam by reflecting the collimated laser beam from the collimating lens 324. Accordingly, the scanner 325 can emit a laser beam in front of the smart wand according to the present invention.

Referring to FIG. 3, a condenser lens 328 focuses the laser beam reflected from the object 327 and irradiates it to the second detection unit 329b. The condenser lens may be similar in shape to a convex lens, and refracts the laser light to focus it on one place.

Referring to FIG. 3, the first detection unit 329a receives the laser beam reflected by the beam splitter 322. The first detection unit 329a can measure the time at which the laser beam is emitted from the light source 321.

Referring to FIG. 3, the second detection unit 329b receives the laser beam focused on the condenser lens 328. The second detection unit 329b can measure the time when the laser beam is reflected from the object 327 and returned. Additionally, the frequency of the reflected laser beam can be measured.

The first detection unit 329a and the second detection unit 329b transmit the collected data to the processor. According to the above-described Doppler effect, the processor calculates the data to determine the shape of the object 327, the distance between the object recognition unit 320 and the object 327, the moving speed of the object 327, and the object ( 327) can generate information about the direction of movement.

According to the above-described embodiment, the object recognition unit 320 can calculate not only the distance between the object recognition unit 320 and the object 327, but also the moving speed and direction of movement of the object 327.

Figure 4 is a block diagram showing the inside of an object recognition unit to explain the progress of a laser beam according to another embodiment of the present invention.

Referring to FIG. 4, unlike the object recognition unit 320 of FIG. 3, the scanner 425 reflects the multi-channel laser beam collimated by the collimating lens 424 and the multi-channel laser beam reflected from the object 427. And three beam splitters 422 (422a, 422b, 422c) are arranged. Other than that, the structure of FIG. 4 is similar to the structure of FIG. 3.

Referring to FIG. 4, the multi-channel laser beam emitted from the light source 421 is reflected by the first beam splitter (422a), is irradiated to the second beam splitter (422b), and is transmitted by the second beam splitter (422b). and is irradiated by the first detection unit 429a.

In addition, the multi-channel laser beam concentrated in the condenser lens 428 is irradiated to the third beam splitter 422c, so that the laser beam of a specific wavelength is reflected to the second detection unit 429b and the laser beam of the remaining wavelength is sent to the second beam. It is transmitted through the splitter 422b. The laser beam transmitted from the third beam splitter 422c to the second beam splitter 422b is reflected to the first detection unit 429a.

Referring to FIG. 4, while the first detection unit 329a of FIG. 3 receives one laser beam irradiated from the beam splitter 322, the laser beam received by the first detection unit 429a of FIG. 4 is The second beam splitter 422b is a laser beam that is a combination of a plurality of laser beams simultaneously received and reflected from the first beam splitter 422a and the third beam splitter 422c. That is, the object recognition unit 420 of FIG. 4 includes an interferometer that is different from the object recognition unit 320 of FIG. 3.

According to the above-described embodiment, the first detection unit 429a combines the laser beam emitted from the light source 421 from the first beam splitter 422a and a plurality of laser beams that passed through the third beam splitter 422c. Laser beams can be measured. Accordingly, the first detection unit 429a can detect both information about the laser beam emitted from the light source 421 and information about the plurality of laser beams reflected from the object 427. Additionally, the second detection unit 429b can measure a plurality of laser beams reflected from the object 427, and the second detection unit 429b is disposed ahead of the first detection unit 429a in the optical path. . Accordingly, the second detection unit 429b can obtain information about a plurality of laser beams at different times through the difference in optical path from the first detection unit 429a.

Accordingly, the first detection unit 429a compares the information about the laser beams emitted from the reference light source 421 with the information about the laser beams reflected from the object 427, Information can be obtained, and the second detection unit 429b compares information about the laser beams reflected from the object 427 caused by the difference in the optical path with the first detection unit 429a, and compares the information on the laser beams reflected from the object 427 ) You can obtain information about. Accordingly, the object recognition unit 420 including the first detection unit 429a and the second detection unit 429b can more accurately measure the frequency of the multi-channel laser beam reflected from the object 427. That is, the smart wand of the present invention including the object recognition unit 420 detects the multi-channel laser beam emitted from the light source 421 from the first detection unit 429a and the second detection unit 429b and the object 427. By receiving measurement data obtained by measuring the reflected multi-channel laser beam, the overall shape of the object 427, its image, movement speed, and direction of movement can be more accurately calculated.

Steps of a method or algorithm described in connection with the embodiments disclosed herein may be implemented directly as hardware or software modules executed by a processor, or a combination of the two. Software modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, or any other form of recording or storage medium known in the art. An exemplary recording medium or storage medium is coupled to a processor, the processor capable of reading information from and writing information to the recording medium or storage medium. Alternatively, the recording medium or storage medium may be integral with the processor. The processor and recording or storage medium may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

Although embodiments of the present invention have been described in more detail with reference to the accompanying drawings, the present invention is not necessarily limited to these embodiments, and various modifications may be made without departing from the technical spirit of the present invention. . Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive. The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

100 200 smart wand
110 210 wand body
120 220 320 420 Object recognition unit
127 227 327 427 objects
130 moisture sensor
140 processor
150 means of transportation
160 speaker or oscillator
170 wireless transmitter
180 GPS sensor
221 321 421 light source
225 325 425 scanner
226 326 426 Gimbal Mount
229 detection unit
322 422 Beam Splitter
323 423 modulator
324 424 collimating lens
328 428 condenser lens
329a 429a first detection unit
329b 429b second detection unit
422a first beam splitter
422b second beam splitter
422c 3rd beam splitter

Claims (10)

wand body;
an object recognition unit disposed on the wand body and emitting and receiving a laser beam;
a moisture sensor disposed on the lower side of the wand body and detecting water; and
Includes a processor connected to communicate with the object recognition unit and the moisture sensor,
The object recognition unit,
A light source that emits a laser beam; and
A scanner that reflects at least one of a laser beam emitted from the light source and a laser beam reflected from the object,
The object recognition unit recognizes objects located in the direction in which the laser beam is emitted,
The scanner is fixed to a gimbal mount,
The gimbal mount rotates the scanner about at least one axis and fixes the optical axis of the scanner,
The processor generates information about the object using signals received from the object recognition unit,
The information on the object is the shape of the object, the distance between the object recognition unit and the object, the moving speed of the object, and the moving direction of the object,
Smart wand. According to clause 1,
The object recognition unit,
It further includes a detection unit that receives the laser beam reflected from the object,
The scanner changes the direction of travel of the laser beam reflected by the scanner,
Smart wand. According to clause 1,
The laser beam emitted by the light source is a multi-channel laser beam,
The object recognition unit,
At least one beam splitter that reflects a laser beam of a specific wavelength among the multi-channel laser beams emitted from the light source and transmits laser beams of the remaining wavelengths;
a first detection unit that receives the laser beam reflected by the beam splitter and measures the radiation time of the laser beam emitted by the light source;
A modulator that changes the optical properties of the laser beam transmitted from the beam splitter;
a collimating lens that collimates the laser beam passing through the modulator;
A condenser lens that focuses the laser beam reflected from the object; and
A second detection unit that receives the laser beam focused in the condensing lens, measures the return time of the laser beam focused in the condensing lens, and captures an image of the object,
The scanner is,
Reflecting at least one of a laser beam collimated by the collimating lens and a laser beam reflected from the object and changing the direction of travel of the reflected laser beam,
Smart wand. According to any one of paragraphs 2 and 3,
The scanner is,
Any one of a MEMS (Micro Electro Mechanical Systems) scanner, a liquid lens scanner, a liquid crystal scanner, and a galvo scanner,
Smart wand. According to any one of paragraphs 2 and 3,
The detection unit includes an image sensor,
The image sensor includes any one of a photodiode, a photo multiplier tube (PMT), a charge coupled device (CCD), and a complementary metal oxide semiconductor (CMOS).
Smart wand. According to clause 1,
Further comprising at least one moving means disposed below the cane body,
Smart wand. According to clause 1,
further comprising a speaker or oscillator,
The speaker or vibrator,
disposed on the wand body, transmitting a signal about information about the object to the user, and connected to enable communication with the processor,
Smart wand. According to clause 1,
Further comprising a wireless transmitter and a GPS sensor disposed on the wand body,
The wireless transmitter and the GPS sensor are connected to communicate with the processor,
The GPS sensor generates location information of the user,
The wireless transmitter transmits a signal about the object information and the user's location information to the smartphone,
Smart wand. According to claim 8,
The wireless transmitter transmits a signal about information about the object to the wireless earphone,
Smart wand. According to clause 9,
Transmitting an alarm informing the user of danger according to the information on the object to the smartphone or the wireless earphone,
Smart wand.