KR20180124397A - An Apparatus and A Method For Stop Guidance In Position Based On Phased-Array Optical Beams - Google Patents

Abstract

According to an embodiment of the present invention, an object position detecting apparatus includes: a support unit; a first optical beam sensor mounted on the support unit at a first angle with a horizontal plane, and measuring a distance value to a detection target object for each small region of a first detection region; a second optical beam sensor mounted on the support unit at a second angle with the horizontal plane, and measuring a distance value to the detection target object for each small region of a second detection region; and a control unit for generating area information based on the distance values measured by the first and second optical beam sensors, and determining whether the detection target object is stopped at a right position based on the area information.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an apparatus and a method for accurately stopping an optical beam based on a phased array optical system,

The present invention relates to an apparatus and method for accurately stopping an optical beam based on a phased array optical beam, and more particularly, to an apparatus and method for accurately stopping a transportation means based on a phased array optical beam, A person, an animal, an obstacle, etc.).

There are frequent occurrences such as collision between passengers when passengers get in and out of the transportation means such as buses and subways, and safety accidents caused by doors in the space near the doors. Due to these problems, safety devices for reducing accidents are increasing in importance, and devices for platform safety are increasingly being developed.

In order to solve such difficulties, for example, a camera is installed in a platform of a transit center, and a monitoring person or a driver directly checks whether the vehicle is stopped or not by using an image captured on a camera. Such a camera-based monitoring apparatus is disadvantageous in that the color is distorted by the direct sunlight and the reflected light reflected from the surrounding environment, and the object identification ability is remarkably deteriorated by the change in illumination and disturbance light. To solve this problem, if the resolution of the camera is increased, the amount of data to be transmitted increases, and it is impossible to fundamentally block the influence of the external environment.

On the other hand, another prior art has further provided an infrared detecting sensor capable of detecting the presence of an obstacle near the outside door of the camera. However, an apparatus equipped with such a camera and an infrared detection sensor at the same time can not detect a passenger or an obstacle that has stopped, and the influence of the external environment such as direct sunlight and reflected light, sunlight, heavy rain, It is difficult to secure reliability and stability of operation.

According to the present invention, area information based on a distance value of a detection target object is generated through an optical beam sensor to determine whether the detection target object is in a correct position or not It is possible to detect an obstacle that may become a risk factor on the platform other than the object to be detected.

An apparatus for correcting a stop position based on a phased array optical beam according to an embodiment of the present invention includes: a support; A first optical beam sensor mounted on the support unit at a first angle with the horizontal plane and measuring a distance value to the detection object for each small region of the first detection region; A second optical beam sensor mounted on the support unit, the second optical beam sensor having a second angle with respect to the horizontal plane, the second optical beam sensor measuring a distance value with respect to the detection object for each small region of the second detection region; And a controller for generating area information based on the distance values measured by the first and second optical beam sensors and for determining whether to stop the detection of the object based on the area information.

In this case, the control unit generates first segment information by connecting distance values of the first detection region with respect to an object to be detected by points in a coordinate on a coordinate, and generates first segment information based on the first segment information, Wherein the control unit generates the first area information by stacking the first accumulation information and the control unit displays the distance values of the second detection area and the object to be detected in the second detection area on a coordinate point, Generate second partial information based on the second line segment information, and generate the second area information by stacking the second cumulative information.

In addition, the controller may determine whether to stop the object in a predetermined position according to the shape of the first area information and the second area information.

In addition, the controller may generate the three-dimensional area information by connecting the first area information and the second area information.

When the amount of change in the distance value between the first detection region and the detection subject is smaller than or equal to the reference change amount, the first accumulation information is applied to the first detection region, When the amount of change in the distance value is equal to or larger than the reference change amount, the change-dependent accumulated amount linked to the change amount of the distance value with respect to the detection subject in the first detection region may be applied.

The second accumulation information may include a reference accumulation amount when the amount of change in the distance value between the second detection region and the detection subject is smaller than or equal to the reference change amount, When the amount of change in the distance value is equal to or larger than the reference change amount, the change-dependent cumulative amount linked to the change amount of the distance value with respect to the detection subject for each child region of the second detection region may be applied.

A third optical beam sensor mounted on the support unit at a third angle with the horizontal plane to measure a distance value to the detection object for each small region of the third detection region; And a fourth optical beam sensor mounted at the support portion at a fourth angle with the horizontal plane and measuring a distance value to the detection object for each small region of the fourth detection region, 4 optical beam sensor, the presence or absence of the object other than the object to be detected can be detected.

The first optical beam sensor and the second optical beam sensor are configured to be symmetrical about a central portion of the support portion. The third optical beam sensor and the fourth optical beam sensor are symmetric about the central portion of the support portion, Lt; / RTI >

In addition, the third and fourth angles may be provided at an angle closer to the horizontal plane than the first and second angles.

In addition, the controller may be configured to control the screen door according to whether the object to be detected is stationary or not.

In addition, the controller may control the area information to be less than or equal to a predetermined value.

Meanwhile, according to an embodiment of the present invention, there is provided a method of inducing an exact position based on a phased array optical beam, comprising: measuring a distance value of a first detection area by a first optical beam sensor, Measuring a distance value for each child region of the first detection region; Plotting a distance value of each of the first detection regions in the small region and a small distance value of the second detection region in terms of a point on a coordinate; Generating first and second segment information by connecting the points shown in the figure; Generating first and second cumulative information based on the first and second segment information, respectively; Stacking the first and second accumulated information to generate the first and second area information; And determining whether the object to be detected is stationary or stationary based on the information detected by the first and second optical beam sensors.

In this case, the step of determining whether to stop the predetermined position may determine whether the object to be detected is stationary or stationary according to the shape of the first area information and the second area information.

The generating of the area information may include generating the three-dimensional area information by connecting the first area information and the second area information.

When the amount of change in the distance value of the first detection area is smaller than or equal to the reference change amount, the reference accumulation amount is applied. When the change amount of the distance value of the first detection area is smaller than the reference change amount A change interlocking accumulation amount interlocked with the change amount of the distance value for each child region of the first detection region can be applied.

The second accumulation information is a reference accumulation amount when the amount of change of the distance value of the second detection region by the small region is less than or equal to the reference change amount and when the change amount of the distance value by the small region of the second detection region is not less than the reference change amount A change interlocking accumulation amount interlocked with the change amount of the distance value for each child region of the second detection region can be applied.

Measuring a distance value of each of the detection object and the third detection area by the third optical beam sensor; And measuring the distance value of each of the fourth detection region and the fourth detection region through the fourth optical beam sensor, wherein the step of determining whether to stop the optical system includes: And the presence of the object (human, animal, obstacle) outside the detection object can be detected based on the information detected by the detection unit.

The third and fourth optical beam sensors may be arranged to cross detection areas with the first and second optical beam sensors in order to increase the detection reliability of the detection object.

The first optical beam sensor and the second optical beam sensor are configured to be symmetrical about a central portion of the support portion. The third optical beam sensor and the fourth optical beam sensor are symmetric about the central portion of the support portion, Lt; / RTI >

In addition, the third and fourth angles may be provided at an angle closer to the horizontal plane than the first and second angles.

The method may further include controlling the screen door according to whether or not the detection object is located at a predetermined position.

According to the present invention, the phase-aligned optical beam-based in-position stop guidance apparatus and method can generate line segment information and area information based on distance values of a detected object with a phase-based optical beam sensor, It is possible to simultaneously determine whether or not the object is stopped at a certain position and simultaneously detect an object (human, animal, obstacle) other than the object to be detected. In the past, it has been difficult to precisely confirm whether or not the transportation means is stopped when the environmental influences such as bad weather are large, and the safety is seriously threatened because the obstacle is very difficult to detect. However, The reliability and safety can be greatly improved regardless of bad weather and surrounding environment.

In particular, it can be applied to areas where social safety and traffic safety systems, such as school zone and silver zone, are necessary, thereby improving safety reliability and operational stability of transportation means.

In addition, automatic control is possible due to a large improvement in reliability and operational stability. Particularly, there is an effect that a safety device, such as a screen door, which can be seriously threatened by a malfunction, can be safely and automatically operated with high reliability. Of course, the scope of the present invention is not limited by these effects.

FIG. 1 is a view for explaining a phased array optical beam-based object position detection system according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating a configuration of a phased array optical beam-based object position detection apparatus according to an embodiment of the present invention.
3 is an exemplary view of distance detection for each region of an object to be detected through an optical beam sensor according to an embodiment of the present invention.
4 is a view for explaining distance detection for each region of an object to be detected through an optical beam sensor according to an embodiment of the present invention.
5A and 5B are diagrams showing a positional relationship between a detection region and an object to be detected according to an embodiment of the present invention.
6 is a flowchart of a method and a control method for confirming whether or not an object to be detected is in a fixed position according to an embodiment of the present invention.
Figs. 7 (a) and 7 (b) are graphs showing coordinate values of exemplary distance values detected according to an embodiment of the present invention.
8 (a) and 8 (b) are graphs showing exemplary segment information according to an embodiment of the present invention.
9 (a) and 9 (b) are graphs showing accumulated information according to an embodiment of the present invention.
10A, 10B, 11A and 11B are graphs showing area information according to an embodiment of the present invention.
FIG. 12 is a graph in which graphs generated by the method of FIGS. 11 (a) and 11 (b) according to an embodiment of the present invention are arranged in time.
13 is a graph showing area information when a passenger, an animal, or an obstacle is detected according to an embodiment of the present invention.
FIG. 14 is a diagram showing a relationship between an object to be detected and a monitoring zone according to an embodiment of the present invention. FIG.
FIG. 15 is a diagram illustrating a display of an electric signboard display according to an embodiment of the present invention.
16 is a diagram illustrating a screen door control operation according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be understood, however, that the invention is not limited to the disclosed embodiments, but may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, Is provided to fully inform the user. In addition, for convenience of explanation, components may be exaggerated or reduced in size.

However, it should be understood that the following embodiments are provided so that those skilled in the art will be able to fully understand the present invention, and that various modifications may be made without departing from the scope of the present invention. It is not.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram of a phased array optical beam-based object position detection apparatus according to an embodiment of the present invention. FIG. FIG. 2 is a detailed view showing a state in which the optical beam sensors 100 to 130 are installed on a support according to an embodiment of the present invention.

1 and 2, the apparatus for detecting a position of a phased array optical beam based object according to an embodiment of the present invention includes a support part 145, first to fourth optical beam sensors 100 to 130, and a control part 140 .

The support part 145 is a part to which the first to fourth optical beam sensors 100 to 130 are mounted, and may include a display 146 such as an electric sign board. For example, the display 146 installed around the bus stop position of the composite transfer center platform can be utilized as the support portion 145.

The first optical beam sensor 100 is mounted on the support portion 145 so as to form a first angle (see A in FIG. 2) with the diagonal line 147 of the support portion 145, The distance to the detection object object 150 is calculated. Therefore, the first optical beam sensor 100 is installed at an angle with the horizontal plane. At this time, the first optical beam sensor 100 is installed at a certain angle with the horizontal plane from the plurality of small regions belonging to the detection region 180 to between the signals reaching each channel of the receiver corresponding to each of the small regions (Difference in distance) to the light beam. That is, the optical beam sensors are arranged to be incident on each channel with a predetermined phase difference (distance difference) when the transmitted light is reflected on the detection object (phased array).

A bus, a subway, or the like, which is an object 150 to be detected, has a large plane and an edge. Since the object 150 is installed at a certain angle with the horizontal plane as described above, the area information is formed with a constant slope and a phase difference when the area information is formed. This will be described in detail with reference to FIGS. 7 and 8. FIG.

Similar to the first optical beam sensor 100, the second optical beam sensor 110, the third optical beam sensor 120, and the fourth optical beam sensor 130 are mounted on the diagonal lines 147, 148 of the support portion 145, Third, and fourth angles, respectively. In addition, the distance to the detection object 150 can be measured for each small region belonging to the detection region 180. [ Here, the detection object 150 may be a transportation means such as a bus, a train, a subway, a ship, an airplane, or the like.

In this case, the first optical beam sensor 100 and the second optical beam sensor 110 may be installed symmetrically with respect to the center of the support portion 145. The third optical beam sensor 120 and the fourth optical beam sensor 130 may be installed symmetrically with respect to the center of the support portion 145.

In this case, the third optical beam sensor 120 and the fourth optical beam sensor 130 are disposed at an angle closer to the horizontal than the first optical beam sensor 100 and the second optical beam sensor 110, May be installed below the first optical beam sensor 100 and the second optical beam sensor 110.

For example, the first optical beam sensor 100 and the second optical beam sensor 110 are mounted on the upper portion of the support portion 145 at about 45 ° and about 135 ° with the diagonal lines 147 and 148 of the support portion 145, respectively The angle of the third optical beam sensor 120 and the fourth optical beam sensor 130 is about 150 degrees and about 30 degrees with respect to the diagonal lines 147 and 148 of the support portion 145 (see angle A in FIG. 2) And can be installed at the lower portion of the support portion 145 (see angle B in Fig. 2).

The first optical beam sensor 100 and the second optical beam sensor 110 are disposed on the upper side of the object to be detected 150 and the third optical beam sensor 120 and the fourth optical beam sensor 130 The lower part of the detection object 150 can be irradiated. Therefore, a person 160-1, an emergency patient 160-2, a pet 160-3, and other obstacles 160-4, which are relatively smaller than a transportation means such as a bus, a train, a subway, Can be detected simultaneously with the object to be detected 150 through the third optical beam sensor 120 and the fourth optical beam sensor 130. [

The support portion 145 may also be installed at an angle with the vertical direction. The first and second optical beam sensors 100 and 110 and the third and fourth optical beam sensors 120 and 130 can be formed by providing the support portion 145 at a predetermined angle (see angle C in FIG. 2) It is possible to calculate the size of the transportation means by giving a difference in phase difference or detection time.

Here, the optical beam sensors 100 to 130 may include a plurality of channels, for example, eight channels and sixteen channels, in order to monitor the monitoring area 170. Here, a detailed description of the optical beam sensors 100 to 130 will be described later in detail with reference to FIG. 2 to FIG.

In this case, the object to be detected and people / obstacles around the object can be detected with only one optical beam sensor having multiple channels. In this embodiment, however, reliability is improved by utilizing a plurality of optical beam sensors. For example, as in the present embodiment, when four optical beam sensors are arranged in a cross structure maintaining an arbitrary angle like a diamond shape, the reliability can be increased by a factor of four.

The optical beam sensors 100 to 130 include a plurality of receiving sensors (channels), and can receive the phased array optical beams through respective receiving sensors. At this time, the dispersed light can be received by a plurality of channels, for example, 8 channels or 16 channels, respectively. In this case, the phased array optical beam sensors 100 to 130 can separate the dispersed laser light into small regions of the detection region 180, and calculate the distance value for each channel corresponding to each small region.

Hereinafter, with reference to Figs. 3 and 4, the optical beam sensor is arranged in such a structure as to detect the characteristic points of the detection object object, and the detection of the contour will be described.

Referring to FIG. 3, the first optical beam sensor 100 and the second optical beam sensor 110 irradiate the object 150 with laser light. At this time, each optical beam sensor receives the laser light reflected from the detection object 150 for each channel and calculates the distance value. At this time, as shown in FIG. 3, the optical beam sensors 100 and 110 are arranged at positions and angles that can detect the outer shape of the detection object body 150. FIG.

At this time, the optical beam sensors 100 and 110 separate the dispersed laser light into small regions of the detection region 180, and calculate the distance value for each channel corresponding to each small region. For example, when a laser beam having a detection region 180 of 48 degrees in the horizontal direction is transmitted, the first channel is divided into a small region between 0 degrees and 6 degrees, and the second region is divided into small regions between 6 degrees and 12 degrees. The small region of 12 to 18 degrees is the third channel, the small region of 18 to 24 degrees is the fourth channel, the small region of 24 to 30 degrees is the fifth channel, the small region of 30 to 36 degrees is the sixth channel, A small area of ~ 42 degrees is a seventh channel, and a small area of 42 to 48 degrees is an eighth channel, respectively.

3, the control unit 140 can accurately grasp the shape of the outer periphery of the detection object 150, and can simultaneously detect obstacles in addition to the outer periphery of the detection object . Accordingly, the phased array optical beam-based object detection apparatus according to the present invention can generate an inflection point in the vicinity of the boundary between an object or an object or an object and the monitoring area 170. The generation and utilization of such an inflection point will be described in detail in the description of FIGS. 10 and 11. FIG.

4 is a diagram for explaining a method for detecting an outer shape difference according to a phase difference of an object to be detected by disposing an optical beam sensor in a structure having a different phase according to an embodiment of the present invention.

Referring to FIG. 4, in order to calculate the distance value of each small region, it is also possible to transmit light with a phase difference for each detection region. For example, each small region can be transmitted with a phase difference of?. In this case, referring to FIG. 4, a channel corresponding to each small region receives a phase difference of?. Accordingly, the optical beam sensors 100 to 130 can calculate the distance value corresponding to each small region through calculation for each channel. Accordingly, the optical beam sensors 100 to 130 can obtain distance values for respective channels through channels corresponding to a plurality of small regions included in the detection region.

Hereinafter, the arrangement of the detection areas 180 of the plurality of optical beam sensors 100 to 130 will be described with reference to FIG. 5 is a view showing a detection region 180 formed by a laser beam irradiated from a plurality of optical beam sensors 100 to 130. In Fig.

According to one embodiment of the present invention, the support portion 145 may be installed at the upper right end of the fixed position 170 at which the transportation means will stop. For example, a monitor that can be seen by a driver is installed at the upper right end of the highway bus stop position of the current complex transfer center platform. Such a monitor may be the support unit 145 in the present invention.

At this time, the detection area 180 formed by the light emitted from the plurality of optical beam sensors 100 to 130 provided on the support part 145 is as shown in FIG. For example, the first and second optical beam sensors 100 and 110 irradiate the upper end of the transportation means, which is the detection object 150, and the third and fourth optical beam sensors 120 and 130, And to illuminate the lower end of the transportation means,

In this case, the first and second optical beam sensors 100 and 110 can share a part of the detection region. That is, the detection portion 180-1 and 180-2 of the first and second optical beam sensors 100 and 110 may be arranged so that a portion 180-3 where the detection regions 180-1 and 180-2 overlap. Therefore, even when the arbitrary channel of one sensor can not acquire the distance information, the detection object can be detected in any channel of the adjacent sensor, and thus the detection reliability can be improved. Also, the third and fourth optical beam sensors 120 and 130 may share a part of the detection region.

5 (a) shows a case where the transportation means is entering the detection region of the sensors, and Fig. 5 (b) shows a case where the transportation means has completed the entry into the detection region.

Hereinafter, with reference to Figs. 6 to 10, description will be given of the formation of area information based on the distance value detected by each sensor with respect to each of Figs. 5 (a) and 5 (b).

FIG. 6 is a flowchart illustrating a static position determination algorithm according to an embodiment of the present invention. The control unit 140 calculates the positional distance based on the calculated distance value for each child station, and outputs the distance value to the control unit 140 The area information can be generated, and it is possible to confirm whether the object to be detected is stationary or stationary based on the generated area information.

6, first, the optical beam sensors 100 to 130 measure the distances of the objects 150 to be detected (S1400), and the controller 140 displays the measured distances as points on the coordinates (S1410 ).

Fig. 7 (a) shows the distance measured by the first optical beam sensor in the situation of Fig. 5 (a), and Fig. 7 (b) The distance measured by the sensor is shown as a point on the coordinate.

As can be seen from Fig. 7 (a), when the detection object has not yet entered the detection area of the sensor, a detection value of a constant slope is detected. However, when the detection object enters the detection area of the sensor, as shown in Fig. 7 (b), the distance between the sensor and the detection object becomes shorter, resulting in two detection areas having different slopes. In the case of Fig. 7 (b), for example, the object to be detected is detected in channels 5 to 8 of Ch 5 to Ch 8, and regions having different slopes are generated.

The reason why the inclination is generated is that the first to fourth optical beam sensors 100 to 130 are installed at a certain angle from the horizontal plane so that the plane of the object to be detected 150 and the plane between the respective planes of the optical beam sensors 100 to 130 Because of the difference in distance. Therefore, even when the bottom of the monitoring zone 170 is sensed, a basic inclination occurs, and when the upper surface or the side surface of the detection target object 150 is detected, each channel and the detection target object 150 are brought close to each other, A distance value having a sharper slope is measured at the time of sensing.

Thereafter, in order to generate the area information, the generated points are connected to generate the segment information (S1420). Referring to FIG. 8, it is shown that line information is generated by connecting points connected on a coordinate.

Then, cumulative information is generated based on the segment information (S1430). For example, referring to FIG. 9, the cumulative information may include a reference accumulation amount 910 and a change interlocking accumulation amount 920. For example, when the change of the distance value detected in the channel corresponding to the detection area is not more than a predetermined value (for example, the detection object 150 is stopped or the detection area detects the bottom of the monitoring area) Cumulative information is formed so that only the reference accumulation amount 910 is accumulated.

However, when a change occurs in the detection area (for example, when the vehicle enters the detection area), the change interlocking accumulation amount 920 linked to the change in the distance value can be applied as cumulative information. For example, the change interlocking accumulation amount 920 may be a distance variation + basic accumulation amount or a distance variation coefficient (e.g., distance variation / reference accumulation amount) * basic accumulation amount.

Thereafter, the control unit 140 can generate the area information by stacking the accumulated information described above (S1440). Then, based on the generated area information, whether or not the detection object 150 exists can be confirmed (S1450). The control unit 140 can generate area information as shown in Figs. 10 (a) to 10 (d), for example, to check whether or not the object to be detected 150 exists and whether or not the object 150 is stationary.

Hereinafter, with reference to Figs. 10 (a) to 11 (b), a method of generating area information and a method of confirming the presence or non-presence of the detection object 150 will be described in detail.

10 (a) is area information created by using one optical beam sensor according to an embodiment of the present invention. As shown in Fig. 10 (a), when an object to be detected is detected in the detection area 180, a point at which a change in distance of the object occurs occurs, so that an inflection point 930 is generated. Therefore, it is possible to know whether or not the object to be detected exists and whether or not the object to be detected is correctly positioned according to the presence or absence of the inflection point, the position of the inflection point, or the height h of the area information.

10 (b) is area information created by connecting two optical beam sensors, for example, the first optical beam sensor 100 and the second optical beam sensor 110, according to an embodiment of the present invention. In this case, preferably, the control unit 140 connects the sensed information of the plurality of optical beam sensors around the detection region 180-3 shared as shown in Figs. 5 (a) and 5 (b) So that area information can be generated.

11 (a) shows an example of generating area information in a cubic shape according to an embodiment of the present invention. The method of generating the basic cumulative information is the same as the method of Fig. 10 (b), but there is a difference in that it is drawn in a three-dimensional shape. In addition, when the area information is accumulated over a specific height H, the control unit 140 can generate area information by limiting the area information to a specific height. In the case where the accumulation amount is limited, the resource utilization such as the memory required for the accumulation amount calculation can be restricted, so that the calculation can be performed faster. Therefore, it is more advantageous for real-time analysis of sensor information.

Fig. 11 (b) shows that the area information is generated in the same manner as in Fig. 11 (a) when the object to be detected 150 is not present. As can be seen from Figs. 11 (a) and 11 (b), the presence or non-existence of the detection object can be grasped through the change in height and height of the specific portion in the above-described area information.

Fig. 12 shows area information formed by the same method as in Figs. 11 (a) and 11 (b) arranged in time. For example, based on the detection information of the first and second optical beam sensors 100 and 110, the first area information 1210 generated when it is determined that the detection object 150 has stopped at the correct position, The second area information 1220 generated when it is determined from the detection information of the beam sensors 120 and 130 that the detection object 150 has stopped at a predetermined position is arranged in accordance with time.

The control unit 145 firstly checks whether the object 150 to be detected is in a correct position or not based on the detection information of the first and second optical beam sensors 100 and 110 and determines whether the third and fourth optical beam sensors 120 , 130), and whether or not the object to be detected (150) is stationary and whether it is a passenger, an animal, an obstacle, or the like.

13 shows area information when a passenger, an animal, an obstacle or the like is detected in the third optical beam sensor 120 or the fourth optical beam sensor 130. [ When a passenger, an animal, an obstacle or the like is detected, the distance between the sensor and the object becomes close to each other, so that another inflection point 940 is generated. Therefore, the passenger, the animal, and the obstacle can be determined at the same time in addition to the determination of whether the detection object 150 is stopped in the fixed position.

On the other hand, the control unit 140 can send out alarms or control the opening and closing of the screen door 190 according to an additional control operation, for example, a display screen, a speaker, or the like, depending on whether the object to be detected 150 is stationary or not (S1460).

Referring to FIG. 14, the apparatus for detecting a phased array optical beam based object according to the present invention can determine whether or not the monitoring area 170 and the object to be detected 150 are in a fixed position based on the form of the area information described above . For example, the control unit 140 can distinguish the position of the object 150 in four steps of entering / under / over / good.

In this case, the control unit 140 may display the determined position of the detection object object 150 on the display 146 of the display board of the support unit 145 or generate an alarm sound.

15, the control unit 140 of the phased array optical beam-based object detection apparatus determines whether or not the object to be detected 150 is detected only in the second optical beam sensor 110 (backward position) Can be displayed on the display of the electric sign board. Thereafter, " good " can be displayed on the electric signboard display when the detection object 150 is detected by the first and second optical beam sensors 110 (the front position).

Thereafter, when the detection object object 150 stops at a predetermined position, for example, when the object stops at an error of 0.5 m or less, the control unit 140 displays the screen door (safety gate) installed in the bus platform (or subway platform) (Not shown).

When the bus starts to move after completion of getting on and off, the control unit 140 can detect that the detection object 150 has advanced and can display " over " on the display of the electric sign board. However, in this case, when the screen door (safety gate) is not closed, the control unit 140 can control to close the screen door. On the other hand, the control unit 140 may automatically control to close the screen door immediately after confirming that there is no person or obstacle around the object to be detected 150. [

Referring to FIG. 16, the apparatus for detecting a phased array optical beam based on the present invention can control the screen door after distinguishing between the monitoring area 170 and the detection target object 150, .

For example, in FIG. 16, the control unit 140 can control so that the screen door is not opened when the bus serving as the detection object 150 does not stop at a predetermined position. It is also possible to control the screen door to be automatically opened after the bus serving as the detection object 150 stops at a predetermined position.

The control unit 140 can control so as not to close the screen door when people are still around the bus that is the object 150 to be detected. Thereafter, if it is determined that no person / obstacle is present around the bus after the completion of the riding on the bus, the control unit 140 can control the screen door to be automatically closed.

An apparatus and method for in-situ stopping based on a phased array optical beam according to the present invention, which is constructed as described above, includes the steps of generating area information based on a distance value of a detected object with respect to a detected object through a phase-based optical beam sensor, It is possible to simultaneously detect whether or not the robot is stationary and determine obstacles other than the object to be detected. In the past, it has been difficult to precisely confirm whether or not the transportation means is stopped when the environmental influences such as bad weather are large, and the safety is seriously threatened because the obstacle is very difficult to detect. However, The reliability and safety can be greatly enhanced regardless of the bad weather and the surrounding environment.

In particular, it can be applied to areas where social safety and traffic safety systems, such as school zone and silver zone, are necessary, thereby improving safety reliability and operational stability of transportation means.

In addition, automatic control is possible due to a large improvement in reliability and operational stability. Particularly, there is an effect that a safety device, such as a screen door, which can be seriously threatened by a malfunction, can be safely and automatically operated with high reliability.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, Various substitutions, modifications, and variations are possible without departing from the scope of the invention. Accordingly, the scope of the present invention should be construed as being limited to the embodiments described, and it is intended that the scope of the present invention encompasses not only the following claims, but also equivalents thereto.

100: first optical beam sensor
110: second optical beam sensor
120: Third optical beam sensor
130: fourth optical beam sensor
140:
150: object to be detected

Claims (17)

A support;
A first optical beam sensor mounted on the support unit at a first angle with the horizontal plane and measuring a distance value to the detection object for each small region of the first detection region;
A second optical beam sensor mounted on the support unit, the second optical beam sensor having a second angle with respect to the horizontal plane, the second optical beam sensor measuring a distance value with respect to the detection object for each small region of the second detection region; And
And a control unit for generating area information based on the distance values measured by the first and second optical beam sensors and for determining whether to stop the object to be detected correctly based on the area information.
Positioned stop guide based on phased array optical beam.
The method according to claim 1,
Wherein the control unit generates first segment information by connecting distance values of the first detection region with respect to an object to be detected by points in coordinates on a coordinate and generates first accumulation information based on the first segment information, Generates the first area information by stacking the first accumulated information,
Wherein the control unit generates second segment information by connecting distance values of the second detection region with respect to an object to be detected by points in a coordinate on a coordinate and generates second cumulative information based on the second segment information And accumulating the second accumulation information to generate the second area information,
Positioned stop guide based on phased array optical beam.
3. The method of claim 2,
Wherein the controller determines whether to stop the object in a predetermined position according to the shape of the first area information and the second area information,
Positioned stop guide based on phased array optical beam.
3. The method of claim 2,
Wherein the controller generates three-dimensional area information by connecting the first area information and the second area information,
Positioned stop guide based on phased array optical beam.
3. The method of claim 2,
Wherein the first accumulation information is a reference cumulative amount when the amount of change in the distance value between the first detection region and the second detection region is smaller than or equal to the reference change amount, When the variation amount of the distance value of the first detection region is equal to or larger than the reference variation amount, the variation dependent accumulation amount interlocked with the variation amount of the distance value between the first detection region and the detection subject is applied.
Positioned stop guide based on phased array optical beam.
3. The method of claim 2,
Wherein the second accumulation information is a reference accumulation amount when the variation amount of the distance value between the second detection region and the detection subject is smaller than or equal to the reference variation amount, When the amount of change in the distance to the object to be detected is smaller than the reference change amount,
Positioned stop guide based on phased array optical beam.
The method according to claim 1,
A third optical beam sensor mounted at the support portion at a third angle with the horizontal plane and measuring a distance value to the detection object for each small region of the third detection region; And
Further comprising a fourth optical beam sensor mounted at the support portion at a fourth angle with the horizontal plane and measuring a distance value to the detection object for each small region of the fourth detection region,
The control unit detects whether or not the object to be detected is in a correct position and detects the presence of an object other than the detection object on the basis of the information detected by the third and fourth optical beam sensors.
Positioned stop guide based on phased array optical beam.
8. The method of claim 7,
Wherein the first optical beam sensor and the second optical beam sensor are configured to be symmetrical about a central portion of the support portion,
Wherein the third optical beam sensor and the fourth optical beam sensor are configured to be symmetrical with respect to a central portion of the support portion,
Wherein the third and fourth angles are installed at an angle closer to a horizontal plane than the first and second angles,
Positioned stop guide based on phased array optical beam.
The method according to claim 1,
Wherein the control unit is configured to control the screen door according to whether the object to be detected is stopped at a predetermined position,
Positioned stop guide based on phased array optical beam.
Measuring a distance value for each child region of the first detection region through the first optical beam sensor and measuring a distance value for each child region of the first detection region through the second optical beam sensor;
Plotting a distance value of each of the first detection regions in the small region and a small distance value of the second detection region in terms of a point on a coordinate;
Generating first and second segment information by connecting the points shown in the figure;
Generating first and second cumulative information based on the first and second segment information, respectively;
Stacking the first and second accumulated information to generate the first and second area information; And
And determining whether or not to stop the detection of the object based on the information detected by the first and second optical beam sensors.
A method of inducing an exact stop based on a phased array optical beam.
11. The method of claim 10,
Wherein the step of determining whether to stop the predetermined position includes determining whether the object to be detected is stationary or stationary according to the shape of the first area information and the second area information,
A method of inducing an exact stop based on a phased array optical beam.
11. The method of claim 10,
Wherein the step of generating the area information includes connecting the first area information and the second area information to generate stereoscopic area information.
A method of inducing an exact stop based on a phased array optical beam.
11. The method of claim 10,
Wherein the first accumulation information includes a reference cumulative amount when the amount of change of the distance value of the first detection region by the small region is less than or equal to the reference change amount, and when the amount of change of the distance value by the small region of the first detection region is equal to or larger than the reference change amount, 1 < / RTI > is applied,
A method of inducing an exact stop based on a phased array optical beam.
11. The method of claim 10,
Wherein the second accumulation information is a reference cumulative amount when the amount of change of the distance value of the second detection region by the small region is less than or equal to the reference change amount, and when the amount of change of the distance value by the small region of the second detection region is equal to or larger than the reference change amount, 2 < / RTI > is applied to the change amount < RTI ID = 0.0 >
A method of inducing an exact stop based on a phased array optical beam.
11. The method of claim 10,
Measuring a distance value between the detection object and the third detection area by the third optical beam sensor; And
Further comprising the step of measuring a distance value of each of the detection object and the fourth detection region through the fourth optical beam sensor,
Wherein the step of determining whether or not to stop the vehicle positively detects whether or not the object stops in a predetermined position based on the information detected by the third and fourth optical beam sensors and the presence of the object other than the detection object,
A method of inducing an exact stop based on a phased array optical beam.
16. The method of claim 15,
Wherein the first optical beam sensor and the second optical beam sensor are configured to be symmetrical about a central portion of the support portion,
Wherein the third optical beam sensor and the fourth optical beam sensor are configured to be symmetrical with respect to a central portion of the support portion,
Wherein the third and fourth angles are installed at an angle closer to a horizontal plane than the first and second angles,
A method of inducing an exact stop based on a phased array optical beam.
11. The method of claim 10,
Further comprising the step of controlling the screen door according to whether or not the object to be detected is positioned in the correct position.
A method of inducing an exact stop based on a phased array optical beam.

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