Hereinafter, the scanner related to the present invention will be described in more detail with reference to the drawings. It will be readily apparent to those skilled in the art that the configuration according to the embodiments described herein can be applied to various apparatuses. For example, there are a robot that recognizes nearby objects to determine a moving line, a device that needs to search for minute movements occurring in the vicinity, and a device that recognizes user's motion.
Next, a basic operation method of the time-of-flight (TOF) distance measuring method using a laser will be described with reference to FIG.
1 is a block diagram showing a basic operation method of a scanner using a time-of-flight (TOF) distance measurement method using a laser.
The scanner 100 includes a laser generation unit 110, a light receiving unit 120, and a condenser lens 130.
Hereinafter, the components will be described in order.
The laser generating portion 110 includes a measuring laser generator 112 for generating a measuring laser beam 1. [
The light receiving unit 120 includes a photodetector 122 for detecting the laser beam 7 reflected by the surrounding object 3. [ It may also include a condenser lens 130 that collects the laser beam 7 reflected by the surrounding object 3 onto the photodetector 122.
As shown in FIG. 1, a laser beam 1 is generated from the laser generating unit 110 toward the surrounding object 3. When the measurement laser beam 1 arrives at the surrounding object 3, it has the shape of the light 5 reflected by the surface of the surrounding object 3 and reflected for several times. A part of light 7 reflected by the condenser lens 130 included in the dual scanner 100 collects in the photodetector 122 of the light receiving unit 120. [
Since the distance between the scanner 100 and the surrounding object 3 is far greater than the distance between the laser generating unit 110 and the light receiving unit 120, the light reflected from the laser beam 1 and the light receiving unit 120, The lengths of the portions 7 of the first and second lens groups are considered to be the same. Therefore, the distance (0.5) between the scanner 100 and the surrounding object 3 by using the time when the measuring laser beam 1 generated by the scanner 100 is reflected on the surrounding object 3 and returned to the scanner 100 * The speed of the laser beam * the difference between the time the laser beam is generated and the time it is reflected back to the scanner and returned to the scanner). As described above, the scanner using the TOF (Time of Flight) method is disadvantageous in that a distance measurement error easily occurs when the measurement is performed in an environment with a large difference in contrast or when the reflectance of the surface of surrounding objects is different Lt; / RTI > The problem of the scanner using the TOF (Time of Flight) method is solved by the present invention.
2A is a block diagram illustrating a basic operation method of a scanner according to an embodiment of the present invention.
The scanner 200 includes a laser generation unit 210, a light receiving unit 220, and a condenser lens 230. The light receiving unit 220 includes a preceding laser light detector 222 and a measurement laser light detector 224 for detecting a laser beam reflected on the peripheral object 18. It is better to use a photodetector that can adjust the sensitivity. In particular, it is preferable to use a photodetector capable of adjusting the sensitivity of the measuring laser beam detector 224.
The scanner 200 may include a central processing unit 250, a measuring unit 252, a storage unit 254, a communication unit 256, and a power supply unit 260 of the display unit 258. The power supply unit 260 supplies power to the scanner 200. The measuring unit 252 calculates the difference between the generation time of the laser beam in the laser generation unit 210 and the time when the laser beam is reflected on the surrounding object 18 and detected by the measurement laser beam detector 224 of the scanner 200 . The central processing unit 250 may include a light intensity measuring unit 262, a sensitivity determining unit 264, and a distance calculating unit 266. The central processing unit 250 controls the overall operation of the scanner 200. The light intensity measuring unit 262 measures the intensity of light detected by the preceding laser light detector 222. The sensitivity determination unit 264 determines the sensitivity value of the measurement laser light detector 224 based on the intensity of the light measured by the light intensity measurement unit 262. [ The distance calculating unit 266 calculates the distance by receiving the time difference measured by the measuring unit 252 or detects the measurement laser beam 14 reflected by the surrounding object 18 and detected by the measuring laser light detector 224 The distance may also be calculated based on the phase shift shown when the phase shift is indicated.
The central processing unit 250 may store the calculated distance in the storage unit 254 as coordinate values based on the scanner 200. [ The central processing unit 250 may display the calculated distance and the coordinate values based on the scanner 200 on the display unit 258 and the central processing unit 250 may transmit the calculated distance to the user's terminal, A distance calculated by a device equipped with the scanner 200 and coordinate values based on the scanner 200 may be transmitted by wire or wireless and may be received from a device on which the scanner 200 is mounted.
A collimator lens (242, 244) may also be included to enhance the linearity of the laser beam. The scanner 200 moves in one direction and continuously measures the distance between the scanner 200 and the surrounding object 18. For example, in FIG. 2A, the distance between the scanner 200 and the surrounding object 18 is continuously measured while the scanner 200 moves to the left. The scanner 200 can be mounted on a robot, a cart used in an automation system, a vehicle, and the like, and can measure the distance between the surrounding object 18 and the scanner 200.
2A are not essential, a scanner having more or fewer components may be implemented as well.
In FIG. 2A, the distance between the scanner 200 and the surrounding object 18 is measured using two laser beams 10 and 14 without measurement error.
The central processing unit 250 causes the laser generating unit 210 to generate the preceding laser beam 10 and the measuring laser beam 14 at the same time. The preceding laser beam 10 and the measuring laser beam 14 arrive at the surrounding object 18 in parallel at a constant distance L. [ When the preceding laser beam 10 arrives at the surrounding object 18, it has a form of light reflected on the surface A of the surrounding object and reflected in several directions. A part of the light 12 reflected by the plurality of paths is collected by the condensing lens 230 included in the dual scanner 200 to the preceding laser beam detector 222 of the light receiving unit 220.
The sensitivity determining unit 264 determines the distance between the surface A of the surrounding object and the scanner 200 by using the intensity of the light 12 detected by the preceding laser light detector 222, The sensitivity value of the measurement laser light detector 224 to be used when measuring the measurement value. When light of a certain amount or less is detected, it can be known that the reflectance of the surface A of the surrounding object is low or the measurement environment is dark. On the other hand, when a certain amount of light is detected, It can be seen that it is in a bright measurement environment. Therefore, when a predetermined amount or less of light is detected in the preceding laser photodetector 222, the sensitivity determination unit 264 determines that the sensitivity value of the measurement laser photodetector 224 to be used at the time of measuring the surface A of the surrounding object is less than a certain value The sensitivity determination unit 264 determines that the sensitivity value of the measurement laser beam detector 224 to be used when measuring the surface A of the surrounding object is proportionately lower than a predetermined amount .
As shown in FIG. 2A, the measurement laser beam 14 is generated from the laser generating portion 210 of the scanner 200 toward the surface B of the surrounding object. The central processing unit 250 checks whether the sensitivity value of the measurement laser light detector 224 used for measuring the distance between the surface B of the surrounding object and the scanner 200 is determined.
If the sensitivity value corresponding to the surface B of the surrounding object is determined, the central processing unit 250 adjusts the sensitivity value of the measurement laser light detector 224 to the determined sensitivity value so that an appropriate amount of light is transmitted to the measurement laser light detector 224, respectively.
If the sensitivity value corresponding to the surface B of the surrounding object is not determined, the central processing unit 250 adjusts the sensitivity value of the measurement laser light detector 224 to a predetermined default value, Value.
The distance calculation section 266 calculates the distance between the generation time of the measurement laser beam 14 and the measurement laser beam 14 generated is reflected on the surface B of the surrounding object to return to a part of the light 16, The distance between the scanner 200 and the surface B of the surrounding object (= 0.5 * the speed of the laser beam * the time of occurrence of the measuring laser beam and the reflection And the difference in time detected by the measuring laser photodetector of the scanner).
2A shows a case where the central processing unit 250 uses the preceding laser beam 10 and the measuring laser beam 14 to measure the distance between the surface A of the surrounding object and the scanner 200, The scanner 200 continuously determines the sensitivity value of the preceding laser beam 10 and the measurement laser 22 while moving the scanner 200 to the left side as it determines the sensitivity value of the laser beam 224 and simultaneously measures the distance between the scanner 200 and the surface B of the object. The beam 14 is used to simultaneously determine the sensitivity value to be used in distance measurement and the distance measurement.
In FIG. 2B, the left side of the scanner 200 is shown as viewed from above.
FIG. 2B shows the case where the scanner 200 has moved by the distance L. FIG. The central processing unit 250 causes the laser generating unit 210 to generate the preceding laser beam 10 and the measuring laser beam 14 at the same time. The preceding laser beam 10 and the measuring laser beam 14 arrive at the surrounding object 18 in parallel at a constant distance L. [ When the preceding laser beam 10 arrives at the surrounding object 18, it has the form of light reflected on the surface C of the surrounding object and reflected in several directions. A part of the light 12 reflected by the plurality of paths is collected by the condensing lens 230 included in the dual scanner 200 to the preceding laser beam detector 222 of the light receiving unit 220.
The sensitivity determining unit 264 determines the sensitivity of the central processing unit 250 to the distance between the surface C of the surrounding object and the scanner 200 using the intensity of the light 12 detected by the preceding laser light detector 222. [ The sensitivity value of the measurement laser light detector 224 to be used when measuring the measurement value. For example, when a predetermined amount or less of light is detected in the preceding laser photodetector 222, the sensitivity determination unit 264 sets the sensitivity value of the measurement laser light detector 224 to be used when measuring the surface C of the surrounding object to a predetermined amount The sensitivity determination unit 264 determines that the sensitivity value of the measurement laser light detector 224 to be used when measuring the surface C of the surrounding object is greater than a predetermined amount Decrease proportionately.
As shown in FIG. 2B, the measurement laser beam 14 is generated from the laser generating portion 210 of the scanner 200 toward the surface A of the surrounding object. The central processing unit 250 adjusts the sensitivity of the measurement laser light detector 224 according to the sensitivity value of the measurement laser light detector 224 corresponding to the surface A of the peripheral object determined in FIG. And is detected by the photodetector 224.
The distance measurement unit 266 measures the distance between the generation time of the measurement laser beam 14 and the generated measurement laser beam 14 reflected on the surface A of the surrounding object to return to a part of the light 16, The distance between the scanner 200 and the surface A of the surrounding object (= 0.5 * the speed of the laser beam * the time at which the measuring laser beam is generated, And is reflected and detected by the measuring laser photodetector of the scanner).
As such, the scanner 200 generates and transmits the preceding laser beam 10 and the measurement laser beam 14 simultaneously, and measures the distance to be used in measuring the distance between the surface of the surrounding object 18 and the scanner 200 The scanner 200 determines the sensitivity value of the laser light detector 224 and also uses the sensitivity value of the predetermined measurement laser light detector 224 so that light of an appropriate amount of intensity is detected by the measurement laser light detector 224. [ The distance between the object 18 and the surrounding object 18 is continuously measured.
Although the direction of movement of the scanner 200 is leftward in FIGS. 2A and 2B, the roles of the preceding laser beam 10 and the measuring laser beam 14 are changed, and the preceding laser beam detector 222 and the measuring laser beam detector If the user changes the role of the user 224, the user can measure the distance by moving to the right as necessary.
As described above, the scanner 200 moves in one direction and measures the distance between the scanner 200 and the surrounding objects 18 continuously. In addition, the scanner 200 may measure the distance between the scanner 200 and the surrounding object 18 every time the scanner 200 moves by a predetermined distance in one direction. For example, the distance between the scanner 200 and the surrounding object 18 can be measured every time the distance L between the preceding laser beam 10 and the measuring laser beam 14 is shifted.
3A, 3B, and 3C, when the scanner 200 is moved by the distance L between the preceding laser beam 10 and the measurement laser beam 14, the distance between the scanner 200 and the surrounding object 18 The measurement of the distance is shown from above.
3A, the central processing unit 250 of the scanner 200 causes the laser generating unit 210 to generate the preceding laser beam 10 and the measuring laser beam 14 at the same time. The preceding laser beam 10 and the measuring laser beam 14 arrive at the surrounding object 18 in parallel at a constant distance L. [ When the preceding laser beam 10 arrives at the surrounding object 18, it has a form of light reflected on the surface A of the surrounding object and reflected in several directions. A part of the light 12 reflected by the plurality of paths is collected by the condensing lens 230 included in the dual scanner 200 to the preceding laser beam detector 222 of the light receiving unit 220.
The sensitivity determination unit 264 uses the intensity of the portion 12 of the light detected by the preceding laser light detector 222 to measure the intensity of the laser light detected by the measurement laser light detector 224 to be used when the scanner 200 moves by the next distance L. [ Is determined. For example, when a predetermined amount or less of light is detected in the preceding laser light detector 222, the sensitivity determination unit 264 determines the sensitivity of the measurement laser light detector 224 to be used when the scanner 200 moves the next distance L The sensitivity determination section 264 determines that the sensitivity value of the measurement laser light detector 224 to be used when moving by the next interval L is larger than a predetermined amount As shown in FIG.
As shown in FIG. 3A, the measuring laser beam 14 is generated from the laser generating portion 210 toward the surface B of the surrounding object. The central processing unit 250 checks whether the sensitivity value of the measurement laser light detector 224 corresponding to the current position of the scanner 200 is determined.
If the sensitivity value corresponding to the current position of the scanner 200 is determined, the central processing unit 250 adjusts the sensitivity value of the measurement laser light detector 224 to a predetermined sensitivity value, (224).
If the sensitivity value corresponding to the current position of the scanner 200 is not determined, the central processing unit 250 adjusts the sensitivity value of the measurement laser light detector 224 to a predetermined default value, .
The distance calculation section 266 calculates the distance between the generation time of the measurement laser beam 14 and the measurement laser beam 14 generated is reflected on the surface B of the surrounding object to return to a part of the light 16, The distance between the scanner 200 and the surface B of the surrounding object (= 0.5 * the speed of the laser beam * the time of occurrence of the measuring laser beam and the reflection And the difference in time detected by the measuring laser photodetector of the scanner).
As shown in FIG. 3B, the scanner 200 has moved by the distance L. FIG. The central processing unit 250 causes the laser generating unit 210 to generate the preceding laser beam 10 and the measuring laser beam 14 at the same time. The preceding laser beam 10 and the measuring laser beam 14 arrive at the surrounding object 18 in parallel at a constant distance L. [ When the preceding laser beam 10 arrives at the surrounding object 18, it has a form of light that is reflected by the surface C of the surrounding object and is reflected in several directions. A part of the light 12 reflected by the plurality of paths is collected by the condensing lens 230 included in the dual scanner 200 to the preceding laser beam detector 222 of the light receiving unit 220.
The sensitivity determination unit 264 uses the intensity of the portion 12 of the light detected by the preceding laser light detector 222 to measure the intensity of the laser light detected by the measurement laser light detector 224 to be used when the scanner 200 moves by the next interval L. [ Is determined. For example, when a predetermined amount or less of light is detected in the preceding laser light detector 222, the sensitivity determination unit 264 determines the sensitivity of the measurement laser light detector 224 to be used when the scanner 200 moves by the next interval L The sensitivity determining unit 264 determines the sensitivity of the measurement laser light detector 224 to be used when the scanner 200 moves by the next interval L. If the sensitivity of the measurement laser light detector 224 is equal to or greater than a predetermined value, The value is determined to be proportionately lower as much as a certain amount.
3B, the measuring laser beam 14 is generated from the laser generating portion 210 of the scanner 200 toward the surface A of the surrounding object. The central processing unit 250 adjusts the sensitivity of the measurement laser light detector 224 according to the sensitivity value of the measurement laser light detector 224 corresponding to the current position of the scanner 200 determined in FIG. And is detected by the photodetector 224.
The distance calculation unit 266 calculates the distance between the generation time of the measurement laser beam 14 and the generated measurement laser beam 14 to the surface A of the surrounding object to return to the portion 16 of the light, The distance between the scanner 200 and the surface A of the surrounding object (= 0.5 * the speed of the laser beam * the time of generation of the measuring laser beam and the reflection of the surrounding object) And the difference in time detected by the measuring laser photodetector of the scanner).
As shown in FIG. 3C, the scanner 200 has moved again by the distance L. FIG. 3C, the central processing unit 250 adjusts the sensitivity value of the measurement laser light detector 224 to the sensitivity value of the determined current position so that an appropriate amount of light is detected by the measurement laser light detector 224 , And calculates the distance between the scanner 200 and the surface C of the surrounding object. The sensitivity determining unit 264 also determines the sensitivity of the measurement laser beam to be used when the scanner 200 moves by the next distance L in accordance with the intensity of light collected by the preceding laser light detector 222, The sensitivity value of the detector 224 is determined.
FIG. 4 shows a method of operation of the scanner 200 according to an embodiment of the present invention.
According to this embodiment, the scanner 200 can reduce the distance measurement error by using the preceding laser beam 10 and the measuring laser beam 14.
First, the central processing unit 250 of the scanner 200 emits the preceding laser beam 10 to the measurement position (S101). Here, the measurement position refers to a position at which the scanner 200 measures the distance in the forward direction.
The intensity of light reflected from the measurement position and returning to the scanner 200 is measured using the preceding laser light detector 222 (S103).
Based on the intensity of the measured light, the sensitivity determination unit 264 determines the sensitivity value of the measurement laser light detector 224 for the measurement position (S105). If the intensity of the measured light is equal to or greater than a predetermined amount, the sensitivity value of the measurement laser light detector 224 is proportionally reduced by a certain amount, and if the intensity of the measured light is less than a predetermined amount, It should be proportionately higher than a certain amount.
The measurement laser beam 14 for distance measurement is emitted at the measurement position (S107).
Depending on the sensitivity value of the determined measurement laser light detector 224, the measurement laser light detector 224 detects the measurement laser beam 14 that is reflected at the measurement location and returns to the scanner 200, The distance calculator 226 calculates the distance between the scanner 200 and the measurement position (S109).
FIG. 5 shows an example of the laser generation unit 210. FIG. The laser generating unit 210 may include two laser generators 212 and 214. The preceding laser generator 212 and the measurement laser generator 214 are positioned parallel to each other and the preceding laser generator 212 generates the preceding laser beam 10 and the measurement laser generator 214 generates the measurement laser beam 14 do. The preceding laser generator 212 and the measurement laser generator 214 may use an LD, an LED, or the like as a light source. The laser beams generated by the preceding laser generator 212 and the measurement laser generator 214 may have different wavelengths and may have different modulation forms.
FIG. 6 shows another example of the laser generation unit 210. FIG. The laser issuing unit 210 includes a laser generator 216, a beam splitter 217, and a reflecting mirror 218. When the laser beam produced by the laser generator 216 passes through the beam splitter 217, the laser beam is divided into a laser beam 14 passed through the beam splitter 217 and a laser beam 10 reflected by the beam splitter 217. The laser beam 10 reflected by the beam splitter 217 is reflected back to the reflection mirror 218 and remains parallel to the laser beam 14 passing through the beam splitter 217.
The laser generator 216 can use an LD, an LED, or the like as a light source. It is also possible to generate a modulated laser beam in the laser generator 216.
6, the laser beam 10 reflected by the beam splitter 217 serves as a preceding laser beam, and the beam that has passed through the beam splitter 217 serves as a measuring laser beam. However, depending on the configurations of the beam splitter 217 and the reflection mirror 218, the laser beam 10 reflected by the beam splitter 217 serves as a measurement laser beam, and the beam that has passed through the beam splitter 217 serves as a pre- It can also serve as a laser beam.
7 shows an example of a modulated laser beam generated in the laser generator 210 and an example in which the modulated laser beam is reflected on the surrounding object 18 and returned to the measurement laser beam detector 224 of the scanner 200 . 7, the modulated measuring laser beam 14 has the form of a pulse, and the generation time of the measuring laser beam 14 and the measuring laser beam 14 are reflected on the surrounding object 18 and measured The distance between the scanner 200 and the surrounding object 18 (= 0.5 * the speed * TR1 of the laser beam) can be calculated using the time difference TR1 detected by the laser light detector 224. [
8 shows an example of a modulated laser beam generated in the laser generator 210 and an example in which the modulated laser beam is reflected on the surrounding object 18 and returned to the measurement laser beam detector 224 of the scanner 200 . 8, the modulated measuring laser beam 14 has a sine shape and the generation time of the measuring laser beam 14 and the measuring laser beam 14 are reflected on the surrounding object 18 and measured The distance between the scanner 200 and the surrounding object 18 (= 0.5 * the speed * TR2 of the laser beam) can be calculated using the time difference TR2 detected by the laser light detector 224. [
It is also possible to calculate the distance using a phase shift which appears when the modulated measuring laser beam 14 is reflected by the surrounding object 18 and detected by the measuring laser photodetector 224.
9A is a block diagram illustrating a basic operation method of a scanner according to another embodiment of the present invention.
The scanner 300 includes a laser generation unit 310, a light receiving unit 320, and a condenser lens 330. The light receiving unit 320 includes a preceding laser light detector 322 and a measuring laser light detector 324 for detecting a laser beam reflected on the surrounding object. It is better to use a photodetector that can adjust the sensitivity. In particular, the measurement laser light detector 324 preferably uses a photodetector capable of adjusting the sensitivity
The scanner 300 may include a central processing unit 350, a measuring unit 352, a storage unit 354, a communication unit 356, a display unit 358, and a power supply unit 360. The power supply unit 360 supplies power to the scanner 300. The measurement unit 352 calculates the difference between the generation time of the laser beam in the laser generation unit 310 and the time when the laser beam is reflected on the surrounding object 28 and detected by the measurement laser beam detector 324 of the scanner 300 . The central processing unit 350 may include a light intensity measuring unit 362, a sensitivity determining unit 364, and a distance calculating unit 366. The central processing unit 350 controls the overall operation of the scanner 300. The light intensity measuring unit 362 measures the intensity of light detected by the preceding laser light detector 322. The sensitivity determination unit 364 determines the sensitivity value of the measurement laser light detector 324 based on the intensity of the light measured by the light intensity measurement unit 362. [ The distance calculating unit 366 calculates the distance by receiving the time difference measured by the measuring unit 352 or the measurement laser beam 24 is reflected on the surrounding object 28 and detected by the measurement laser light detector 324 The distance may also be calculated based on the phase shift shown when the phase shift is indicated.
The central processing unit 350 may store the calculated distance in the storage unit 354 as coordinate values based on the scanner 300. [ The central processing unit 350 can display the calculated distance and the coordinate values based on the scanner 300 on the display unit 358 and the central processing unit 350 can display the calculated distance on the display unit 358 through the communication unit 356, The coordinates calculated on the basis of the distance calculated by the scanner 300 and the device on which the scanner 300 is mounted can be transmitted by wire or wireless and the current position can be received from the device on which the scanner 300 is mounted.
But may also include collimator lenses 342 and 344 to improve the linearity of the laser beam. The scanner 300 rotates in one direction and continuously measures the distance between the scanner 300 and the main surface 28. For example, FIG. 9A shows a state in which the scanner 300 rotates counterclockwise and successively measures the distance between the scanner 300 and the main surface object 28, as viewed from above. The scanner 300 can be mounted on a robot, a cart used in an automation system, a vehicle, or the like, and can continuously measure the distance between the surrounding object 28 and the scanner 300.
The components shown in FIG. 9A are not essential, and a scanner having more or fewer components may also be implemented.
9A, the distance between the scanner 300 and the surrounding object 28 is measured using two laser beams 20 and 24 without measurement error.
The central processing unit 350 causes the laser generating unit 310 to generate the preceding laser beam 20 and the measuring laser beam 24 at the same time. The preceding laser beam 20 and the measuring laser beam 24 arrive at the surrounding object 28 at a certain angle?. The constant angle? Is preferably 180 degrees or less. When the preceding laser beam 20 arrives at the surrounding object 28, it has the form of light reflected by the surface E of the surrounding object and reflected in several directions. A part of the light 22 reflected by the condenser lens 330 included in the dual scanner 300 is collected by the preceding laser light detector 322 of the light receiving unit 320. [
The sensitivity determining unit 364 determines the distance between the surface E of the surrounding object and the scanner 300 by using the intensity of the portion 22 of the light detected by the preceding laser light detector 322, The sensitivity value of the measuring laser light detector 324 to be used when measuring the intensity of the laser light. When light of a certain amount or less is detected, it can be known that the reflectance of the surface E of the surrounding object is low or the measurement environment is dark. On the other hand, if light of a certain amount or more is detected, It can be seen that it is in a bright measurement environment. Therefore, if less than a predetermined amount of light is detected in the preceding laser photodetector 322, the sensitivity determining unit 364 determines that the sensitivity value of the measurement laser light detector 324 to be used at the time of measuring the surface E of the surrounding object is less than a certain value The sensitivity determination unit 364 determines that the sensitivity value of the measurement laser beam detector 324 to be used when measuring the surface E of the surrounding object is proportionately lower than a predetermined amount .
As shown in FIG. 9A, the measurement laser beam 24 is generated from the laser generating portion 310 of the scanner 300 toward the surface F of the surrounding object. The central processing unit 350 checks whether the sensitivity value of the measurement laser light detector 324 used for measuring the distance between the surface F of the surrounding object and the scanner 300 is determined.
If the sensitivity value corresponding to the surface F of the surrounding object is determined, the central processing unit 350 adjusts the sensitivity value of the measurement laser light detector 324 to the determined sensitivity value so that an appropriate amount of light is incident on the measurement laser light detector 324).
If the sensitivity value corresponding to the current rotational position of the scanner 300 is not determined, the central processing unit 350 adjusts the sensitivity value of the measurement laser light detector 324 to a predetermined default value, Value.
The distance calculation section 366 calculates the distance between the generation time of the measurement laser beam 24 and the measurement laser beam 24 generated is reflected on the surface F of the surrounding object to return to a part of the light 26, The distance between the scanner 300 and the surface F of the surrounding object (= 0.5 * the speed of the laser beam * the time of generation of the measuring laser beam and the reflection of the surrounding object) And the difference in time detected by the measuring laser photodetector of the scanner).
The central processing unit 350 in Figure 9A uses the preceding laser beam 20 and the measuring laser beam 24 to measure the distance between the surface E of the surrounding object and the scanner 300, The scanner 300 continuously rotates in the counterclockwise direction and continuously detects the sensitivity of the preceding laser beam 20 as the sensitivity value of the laser beam 324 is measured and the distance between the scanner 300 and the surface F of the surrounding object is measured simultaneously, And the measuring laser beam (24) are used to simultaneously determine the sensitivity value to be used in the distance measurement and the distance measurement.
FIG. 9B shows a state in which the scanner 300 is rotated counterclockwise as viewed from above.
And the scanner 300 is rotated by an angle? As shown in FIG. 9B. The central processing unit 350 causes the laser generating unit 310 to generate the preceding laser beam 20 and the measuring laser beam 24 at the same time. The preceding laser beam 20 and the measuring laser beam 24 arrive at the surrounding object 28 at a certain angle?. When the preceding laser beam 20 arrives at the surrounding object 28, it is reflected by the surface G of the surrounding object to be reflected in various forms. A part of the light 22 reflected by the condenser lens 330 included in the dual scanner 300 is collected by the preceding laser light detector 322 of the light receiving unit 320. [
The sensitivity determining unit 364 determines the distance between the surface G of the surrounding object and the scanner 300 by using the intensity of the portion 22 of the light detected by the preceding laser light detector 322, The sensitivity value of the measuring laser light detector 324 to be used when measuring the intensity of the laser light. For example, when a predetermined amount or less of light is detected in the preceding laser light detector 322, the sensitivity determination unit 364 sets the sensitivity value of the measurement laser light detector 324 to be used at the time of measuring the surface G of the peripheral object to a predetermined amount The sensitivity determining unit 364 determines that the sensitivity value of the measurement laser beam detector 224 to be used at the time of measuring the surface G of the surrounding object is greater than a predetermined amount Decrease proportionately.
9B, the measuring laser beam 24 is generated from the laser generating portion 310 of the scanner 300 toward the surface E of the surrounding object. The central processing unit 350 adjusts the sensitivity of the measurement laser light detector 324 according to the sensitivity value of the measurement laser light detector 324 corresponding to the surface E of the peripheral object determined in FIG. And is detected by the photodetector 324.
The distance measuring unit 366 measures the distance between the generation time of the measurement laser beam 24 and the measurement laser beam 24 generated by the measurement laser beam 24 reflected on the surface E of the surrounding object to return to a part of the light 26, The distance between the scanner 300 and the surface E of the surrounding object (= 0.5 * the speed of the laser beam * the time at which the measuring laser beam is generated, And is reflected and detected by the measuring laser photodetector of the scanner).
Thus, the scanner 300 rotates counterclockwise to simultaneously generate the preceding laser beam 20 and the measuring laser beam 24, and measures the distance between the surface of the surrounding object 28 and the scanner 300 The sensitivity of the measurement laser light detector 324 to be used in the measurement is determined and the intensity of the appropriate amount of light is detected by the measurement laser light detector 324 using the sensitivity value of the predetermined measurement laser light detector 324 The distance between the scanner 300 and the surrounding object 28 is continuously measured.
9A and 9B, the direction of rotation of the scanner 300 is counterclockwise, but the preceding laser beam 20 and the measuring laser beam 24 change roles, If the photodetector 324 changes its role, the distance can be measured if the user rotates clockwise as needed.
As described above, the scanner 300 rotates in one direction and continuously measures the distance between the scanner 300 and the surrounding object 28. Also, the scanner 300 may measure the distance between the scanner 300 and the surrounding objects 28 every time the scanner 300 rotates by a certain angle in one direction. For example, the distance between the scanner 300 and the surrounding object 28 can be measured every time it rotates by the angle [theta] formed by the preceding laser beam 20 and the measurement laser beam 24. [
10A, 10B and 10C, each time the scanner 300 rotates by the angle? Between the preceding laser beam 20 and the measurement laser beam 24, the scanner 300 and the surrounding objects 28 Is measured from the above.
10A, the central processing unit 350 of the scanner 300 causes the laser generating unit 310 to generate the preceding laser beam 20 and the measuring laser beam 24 at the same time. The preceding laser beam 20 and the measuring laser beam 24 arrive at the surrounding object 28 at a certain angle?. The constant angle? Is preferably 180 degrees or less. When the preceding laser beam 20 arrives at the surrounding object 28, it has the form of light reflected by the surface E of the surrounding object and reflected in several directions. A part of the light 22 reflected by the condenser lens 330 included in the dual scanner 300 is collected by the preceding laser light detector 322 of the light receiving unit 320. [
The sensitivity determination unit 364 uses the intensity of the portion 12 of the light detected by the preceding laser light detector 322 to measure the intensity of the laser light detected by the measurement laser light detector 324 to be used when the scanner 300 rotates by the next angle [ ). ≪ / RTI > For example, when a predetermined amount or less of light is detected in the preceding laser photodetector 322, the sensitivity determination unit 364 determines the sensitivity of the measurement laser photodetector 324 to be used when the scanner 300 rotates by the next angle? The sensitivity determining unit 364 determines that the sensitivity value of the measurement laser light detector 324 to be used when rotating by the next angle is larger than a predetermined amount As shown in FIG.
As shown in Fig. 10A, the measuring laser beam 24 is generated from the laser generating portion 310 toward the surface F of the surrounding object. The central processing unit 350 checks whether the sensitivity value of the measurement laser light detector 324 corresponding to the current rotational position of the scanner 300 is determined.
If the sensitivity value corresponding to the current rotational position of the scanner 300 is determined, the central processing unit 350 adjusts the sensitivity value of the measurement laser light detector 324 to the determined sensitivity value, and outputs an appropriate amount of light to the measurement laser light detector 324).
If the sensitivity value corresponding to the current rotational position of the scanner 300 is not determined, the central processing unit 350 adjusts the sensitivity value of the measurement laser light detector 324 to a predetermined default value, Value.
The distance calculation section 366 calculates the distance between the generation time of the measurement laser beam 24 and the measurement laser beam 24 generated is reflected on the surface F of the surrounding object to return to a part of the light 26, The distance between the scanner 300 and the surface F of the surrounding object (= 0.5 * the speed of the laser beam * the time at which the measuring laser beam is generated, And is reflected and detected by the measuring laser photodetector of the scanner).
As shown in FIG. 10B, the scanner 300 has rotated by the angle?. The central processing unit 350 causes the laser generating unit 310 to generate the preceding laser beam 20 and the measuring laser beam 24 at the same time. The preceding laser beam 20 and the measuring laser beam 24 arrive at the surrounding object 28 at a certain angle?. When the preceding laser beam 20 arrives at the surrounding object 28, it is reflected by the surface G of the surrounding object to be reflected in various forms. A part of the light 22 reflected by the condenser lens 330 included in the dual scanner 300 is collected by the preceding laser light detector 322 of the light receiving unit 320. [
The sensitivity determination unit 364 uses the intensity of the portion 22 of the light detected by the preceding laser light detector 322 to measure the intensity of the laser light detected by the measurement laser light detector 324 to be used when rotating by the angle? Is determined. For example, when a predetermined amount or less of light is detected in the preceding laser photodetector 322, the sensitivity determination unit 364 determines the sensitivity of the measurement laser photodetector 324 to be used when the scanner 300 rotates by the next angle? The sensitivity determining unit 364 determines that the sensitivity value of the measurement laser light detector 324 to be used when rotating by the next angle is larger than a predetermined amount As shown in FIG.
As shown in FIG. 10B, the measuring laser beam 24 is generated from the laser generating portion 310 of the scanner 300 toward the surface E of the surrounding object. The central processing unit 350 adjusts the sensitivity of the measurement laser light detector 224 according to the sensitivity value of the measurement laser light detector 324 corresponding to the current rotation position of the scanner 300 determined in FIG. And is detected by the laser light detector 224.
The distance calculation section 366 calculates the distance between the generation time of the measurement laser beam 24 and the measurement laser beam 24 generated is reflected on the surface E of the surrounding object to return to a part of the light 26, The distance between the scanner 300 and the surface E of the surrounding object (= 0.5 * the speed of the laser beam * the time at which the measuring laser beam is generated, And is reflected and detected by the measuring laser photodetector of the scanner).
As shown in Fig. 10C, the scanner 300 has rotated again by the angle [theta]. 10C, the central processing unit 350 adjusts the sensitivity value of the measurement laser light detector 324 to the sensitivity value of the determined current rotation position so that an appropriate amount of light is detected by the measurement laser light detector 324 The distance between the scanner 300 and the surface G of the surrounding object is calculated. The central processing unit 350 may reflect the measurement laser light to be used when the scanner 300 rotates by the next angle? According to the intensity of the light collected by the preceding laser light detector 322, The sensitivity value of the detector 324 is determined.
FIG. 11 shows an example of the laser generating unit 310. FIG. The laser generating unit 310 includes two laser generators 312 and 314. The preceding laser generator 312 and the measuring laser generator 314 maintain a constant angle θ and the preceding laser generator 312 is connected to the preceding laser beam 20 and the measuring laser generator 314 is connected to the measuring laser beam 24 ). The constant angle? Is preferably 180 degrees or less. The preceding laser generator 312 and the measurement laser generator 314 can use an LD, an LED, or the like as a light source. The preceding laser generator 312 and the measurement laser generator 314 may have different wavelengths and may have different modulation forms.
FIG. 12 shows another example of the laser generation unit 310. FIG. The laser emitting unit 310 includes a laser generator 316 and a grating 318. The laser beam produced by the laser generator 316 passes through the grating 318 and is divided into a preceding laser beam 20 and a measuring laser beam 24.
The preceding laser beam 20 and the measuring laser beam 24 maintain a constant angle [theta]. The constant angle? Is preferably 180 degrees or less. The laser generator 316 can use an LD, an LED, or the like as a light source. The laser generating unit 310 may generate a modulated laser beam.
13 shows an example of a modulated laser beam generated in the laser generator 310 and an example in which the modulated laser beam is reflected to the surrounding object 28 and returned to the measurement laser beam detector 324 of the scanner 300 . 13, the modulated measuring laser beam 24 has a pulse shape and the time of occurrence of the measuring laser beam 24 and the measuring laser beam 24 are reflected on the surrounding object 28 to be measured The distance (= 0.5 * laser beam speed * TR3) between the scanner 300 and the surrounding object 28 can be calculated using the time difference TR3 detected by the laser beam detector 324. [
14 shows an example of a modulated laser beam generated in the laser generation unit 310 and an example in which the modulated laser beam is reflected on the surrounding object 28 and returned to the measurement laser beam detector 324 of the scanner 300 . 14, the modulated measuring laser beam 24 has a sine shape and the time of occurrence of the measuring laser beam 24 and the measuring laser beam 24 are reflected on the surrounding object 28 and measured The distance between the scanner 300 and the surrounding object 28 (= 0.5 * the speed * TR4 of the laser beam) can be calculated using the time difference TR4 detected by the laser light detector 324. [
The distance may also be calculated using a phase shift that appears when the modulated measuring laser beam 24 is reflected by the surrounding object 28 and detected by the measuring laser photodetector 324.
Figs. 15A, 15B, 15C and 15D show an example in which the scanner 300 can be configured as a rotating mirror 380. Fig. The rotating mirror 380 is configured to take the place of the rotation of the scanner 300. The rotating mirror 380 rotates in one direction. For example, the rotating mirror 380 rotates counterclockwise, allowing the distance between the scanner 300 and the surrounding object 28 to be continuously measured.
Further, the rotating mirror 380 may be configured to adjust the tilt up and down.
The central processing unit 350 can control the rotation and tilt of the rotating mirror 380.
15A shows an example in which the scanner 300 and the rotating mirror 380 are configured in the same manner as viewed from the side. The central processing unit 350 causes the laser generating unit 310 to simultaneously generate the leading laser beam 20 and the measuring laser beam 24 toward the rotating mirror 380. [ The preceding laser beam 20 and the measuring laser beam 24 form a constant angle [theta]. The constant angle? Is preferably 180 degrees or less. When the preceding laser beam 20 and the measurement laser beam 24 arrive at the rotating mirror 380, they are reflected on the surface of the rotating mirror 380 and arrive at the surrounding object 28.
15B shows a state in which the preceding laser beam 20 and the measurement laser beam 24 are reflected to the surrounding object 28. Fig. The preceding laser beam 20 and the measuring laser beam 24 are reflected by the surface of the surrounding object 28 and are in the form of light reflected several times. When the preceding laser beam 20 is reflected by the surrounding object 28 and is reflected in several directions, some of the light 22 arrives at the rotating mirror 380 and is reflected by the rotating mirror 380 again, A part 22 of the light is collected by the preceding laser beam detector 324 of the light receiving unit 320 by the laser beam detector 330 of FIG. The measurement laser beam 24 reflected on the surrounding object 28 is also reflected on the rotating mirror 380 in the form of a part of the light 26 and is reflected by the condensing lens 330 in the light receiving part 320, The measurement laser light detector 324 of FIG.
9A and 9B, when the distance between the surface of the surrounding object 28 and the scanner 300 is measured according to the intensity of the light collected in the preceding laser light detector 322, It is possible to determine the sensitivity value of the measurement laser light detector 324 to be used and to detect the intensity of the moderate intensity light by the measurement laser light detector 324 using the sensitivity value of the predetermined measurement laser light detector 324, 300) and the surrounding object 28. The distance measurement unit 308 measures the distance between the object 300 and the surrounding object 28 continuously.
9A and 9B, the preceding laser beam 20 and the measurement laser beam 24 generated at the scanner 300 are simultaneously generated toward the surrounding object 28 and the preceding laser beam 20 And the measuring laser beam 24 are reflected on the surface of the surrounding object 28 and are directly collected in the preceding laser beam detector 222 and the measuring laser beam detector 224 of the scanner 300. [ 15A and 15B, however, since the rotating mirror 380 replaces the rotation of the scanner 300, the leading laser beam 20 and the measuring laser beam 24 are generated toward the rotating mirror 380, The preceding laser beam 20 and the measurement laser beam 24 arriving at the mirror 380 are reflected on the rotating mirror 380 and arrive at the surrounding object 28. [ The preceding laser beam 20 and the measurement laser beam 24 arriving at the surrounding object 28 are reflected on the surface of the surrounding object 28 and return to the rotating mirror 380, The measurement laser beam 24 and the measurement laser beam 24 are reflected on the rotating mirror 380 and collected in the preceding laser beam detector 222 and the measurement laser beam detector 224 of the scanner 300, respectively.
The scanner 300 configured as the rotating mirror 380 of Figures 15a and 15b is configured such that the preceding laser beam 20 and the measuring laser beam 24, such as the scanner 300 shown in Figures 9a and 9b, θ) and determines the sensitivity value of the measurement laser light detector 324 to be used when measuring the distance between the surface of the surrounding object 28 and the scanner 300, and also determines the sensitivity value of the measurement laser light detector 324, The distance measurement between the scanner 300 and the surrounding object 28 is continuously performed while the light of the appropriate amount of intensity is sensed by the measurement laser light detector 324 using the sensitivity value of the sensor 324.
The scanner 300 may also measure the distance between the scanner 300 and the surrounding object 28 each time the rotating mirror 380 rotates by a certain angle in one direction. For example, the distance between the scanner 300 and the surrounding object 28 is measured every time the rotating mirror 380 rotates by the angle [theta] formed by the preceding laser beam 20 and the measuring laser beam 24 .
The sensitivity determining unit 364 uses the intensity of the portion 12 of the light detected by the preceding laser light detector 322 to measure the intensity of the laser light detected by the measuring laser light detector And the central processing unit 350 determines whether the sensitivity value of the measuring laser beam detector 324 corresponding to the position of the rotating mirror 380 is determined.
If the sensitivity value corresponding to the current position of the rotating mirror 380 is determined, the central processing unit 350 adjusts the sensitivity value of the measurement laser light detector 324 to the determined sensitivity value, and outputs a proper amount of light to the measurement laser light detector 324).
If the sensitivity value corresponding to the current position of the rotating mirror 380 is not determined, the central processing unit 350 adjusts the sensitivity value of the measurement laser light detector 324 to a predetermined default value, Value.
The distance calculation unit 366 calculates the distance between the generation time of the measurement laser beam 24 and the measurement laser beam 24 generated by the measurement laser beam 24 reflected on the surface of the surrounding object 28 and returns to a portion 26 of the light, The distance between the scanner 300 and the surface of the surrounding object 28 (= 0.5 * the speed of the laser beam * the time of generation of the measuring laser beam, And is reflected and detected by the measuring laser photodetector of the scanner).
The scanner 300 configured as the rotating mirror 380 is mounted on a robot, a cart and a vehicle used in an automation system and moves and measures the distance between the surrounding object 28 and the scanner 300 at various angles can do.
15C and 15D show that the inclination of the rotating mirror 380 can be adjusted up and down. When the inclination of the rotating mirror 380 is adjusted up and down, the measuring position at which the preceding laser beam 20 and the measuring laser beam 24 arrive at the surrounding object 28 is adjusted up and down. In this case, since the distance between the scanner 300 and the surrounding object 28 can be measured in a direction perpendicular to the horizontal direction, the shape of the surrounding object 28 can also be measured.
16 shows the scanner 300 mounted on the vacuum clean robot 500. As shown in FIG. In this case as well, the scanner 300 can be configured as a rotating mirror 380. When the distance between the surrounding object and the cleaning robot is measured and transmitted to the cleaning robot according to the present invention, the cleaning robot determines the movement line based on the information received in the present invention.
17 shows a scanner 300 mounted and used in a vehicle 600. Fig. In this case as well, the scanner 300 can be configured as a rotating mirror 380. When the present invention measures the distance between an object and an automobile and transmits the measured distance to the automobile, the automobile secures the safety distance based on the information received in the present invention. For example, a car can alert the driver and automatically control the speed of the car.
The scanner described above is not limited in the configuration and method of the embodiments described above, but the embodiments may be configured such that all or some of the embodiments are selectively combined so that various modifications can be made. have. Also, the distance calculation formula described above may be changed.
