KR20190000090A - Lidar detection device and method of detecting a thing - Google Patents

Abstract

Disclosed are a LiDAR detection device and a method for detecting a thing. The LiDAR detection device includes: a LiDAR in order to detect a surrounding thing in a detecting location; and a storing module which stores a result of the LiDAR detection as event detection information. A form of a transmitting light of the LiDAR can be changed in accordance with a distance from the thing and existence of the thing in a range of the detection.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a lidar detection device,

The present invention prevents deterioration of object detection function of Lada in a situation where various Lada sensors are mixed together and further secures accurate detection capability and energy efficiency in a scanning Lada sensor.

The present invention can be used in combination with a control device of a vehicle or as a life safety device in a factory or the like.

The black box installed in the vehicle is an important device for storing the driving state, the parking state, and the like as an image and utilizing it as evidence (see FIG. 1).

Generally, the black box is configured such that the sensor detects the impact at the time of the accident and operates the accident history from the time of the accident (see FIG. 2). It is because it is difficult to accurately measure the distance between the cameras by the camera at the time of the accident. However, in the structure in which the shock is detected at the time of the accident, the black box is damaged due to an accident, It is obvious that it will not be able to perform its function.

In addition, there is also a problem that the black box using the camera is practically impossible at night. Even if it is possible to shoot at night using infrared rays, it is inevitable that the resolution is degraded and it is not practical.

Since the radar uses the characteristic that the emitted radio waves are reflected from the object, it is possible to detect the object at night by overcoming the disadvantage of the camera. However, due to the characteristic of using the radio wave, the resolution as the image can not be expected. There are also drawbacks that are not enough to use as important evidence.

Lida is a laser scanning technology that has several advantages in detecting objects such as sharp optical signal beams and short pulse repetition cycle to detect objects and express them in image form, thus improving accuracy compared to radar. However, Lada's scanning function has the following problems.

1) Unless the object to be detected is a perfectly flat plate and the laser is not transmitted at exactly right angle to the object, the reflection light of the laser emitted from the laser is reflected irregularly, and only a part of it returns to its own vehicle. This is not only a cause of lowering the received signal, but also a problem that the diffused laser influences other vehicles. This phenomenon is in contrast with the fact that the transmission signal of another vehicle directly or indirectly interferes with its own vehicle with reflected light. In other words, as Lada is activated, the problem of interference becomes prominent, and at some point optical scattering and disturbance can reach serious levels.

2) In the case where a plurality of Lidar sensors are installed to perform a scanning operation in order to detect human access within a certain factory area, there is a problem that jamming is caused by interfering each Lidar sensor (refer to FIG. 3 Reference).

3) Lada is a technique based on scanning scanning. That is, the light beam of the delicate beam is scanned by left-right scanning or 360-degree rotation in the form of a certain range of sectors, and the surrounding objects are detected. However, when this function is implemented in a black box installed inside a vehicle, the detection laser when it is projected at an oblique angle with respect to a window of a car can not reach the object to be actually detected and is refracted and reflected in the interior of the vehicle, There is a problem (see Fig. 4). Furthermore, within the scanning detection range, there may or may not be a vehicle within a certain angular range. However, if the scanning light power is the same, unnecessary energy is consumed within the angle of reflection when the vehicle collides against the vehicle.

The present invention relates to a technique for preventing interference between new Lada signals and a technology for controlling intensity and time width of a light power to combine with the image sensing function of a camera while solving the above problems, So that a plurality of ladders can be used for superimposing operation.

KR 10-2017-0040887 A

A first object of the present invention is to provide a means for solving the crosstalk of an optical system caused by overlapping of signals between sensors when the crossover is interchanged with the other vehicle or when the crossover sensor is used as a sensor in a factory area or the like as an electromagnetic field modulation technique. The present invention provides an optical signal modulation / demodulation function by an identification code.

A second object of the present invention is to improve the precision of detection while reducing energy for a part where objects are scanned in a cylindrical shape. To this end, according to the present invention, the time width of light and light is determined by the presence It provides automatic adjustment function.

According to an aspect of the present invention, there is provided a lidar detection device for detecting an ambient object at a detection position; And a storage module for storing the detection result of the lidar as event detection information. Here, the pulse shape of the transmission light output from the above-mentioned L is variable depending on the distance or the presence or absence of the object in the detection range.

A lidar detection device according to another embodiment of the present invention is for detecting an object at a detection position; And a storage module for storing the detection result of the lidar as event detection information. Here, the transmission lights output from the LIDA have different identification codes for the same frequency, and the reflection signals of the transmission lights are distinguished from other reflection signals through the corresponding identification codes.

According to the present invention, since the identification code of the electromagnetic system is applied to the transmission and reception of the optical system, resistance to signal interference of the laser is enhanced, and in the structure of the Lada sensor which is scanned in the circumferential shape, the detection range with the sole and the detection range without the object Since the optical power and the time width are controlled by discrimination, the energy saving and the detection precision can be improved at the same time.

FIG. 1 is an illustration of a screen displayed when an image stored in a conventional black box is reproduced. FIG.
Fig. 2 is a sequence flow chart showing the concept that a conventional black box is operated when a vehicle collision occurs; Fig.
FIG. 3 is a conceptual diagram showing a principle of jamming and a state in which interference occurs on the screen when a plurality of scanning lines are installed in a specific place, such as a factory, and optical signals of each other are interfered with each other.
FIG. 4 is a conceptual diagram showing a principle in which a signal passing through a window is weakened by reflection refraction of a Raid optical signal incident on a window at an oblique angle when operating a scanning laser in the interior of the vehicle.
5 is a conceptual block diagram showing a first embodiment as a basic configuration of the present invention. (Claim 1 and claim 2)
6 is a block diagram when the basic configuration of the present invention is shown as an electronic circuit;
7 is a block diagram of a third embodiment combining the basic configuration of the present invention with the interlocking configuration of additional identification codes. (Claim 3)
8 is a block diagram of a fourth embodiment combining the basic configuration of the present invention with the interlocking configuration of an additional lens. (Claim 4)
9 is a block diagram of a fifth embodiment combining the above-described basic structure of the present invention with an additional steering wheel steering interlocking structure. (Claim 5)
10 is a flow chart showing a concept that the ADAS module calculates event detection information in each of the above embodiments. (Claim 6)
FIG. 11 is a conceptual diagram showing a principle of overlapping image information of a camera and object detection information of a lidar in accordance with pitches on a screen in each of the above embodiments. (Claim 7)
FIG. 12 is a conceptual diagram showing movement speed and distance information of a result of detection by Lada on an object of an image photographed by the camera in each of the above embodiments. FIG. (Claim 8)
13 is a conceptual diagram showing that the direction in which the camera is photographed and the detection direction of the lidar are adjusted in accordance with the steering wheel steering in each of the above embodiments. (Claim 9)
14 is a conceptual diagram showing a principle of eliminating signal interference occurring when a scanning laser is used in a certain plant area or the like by a selective function using an identification code. (Claim 10)
FIG. 15 is a principle view showing a concept of configuring the identification code of FIG. 14 as an IP in the form of a control header. (Claim 11)
FIG. 16 is a principle diagram showing a concept of configuring the identification code of FIG. 14 as a control code PN code; FIG. (Claim 12)
17 is a diagram illustrating pulse shapes of transmission light according to an embodiment of the present invention.
FIG. 18 is a diagram illustrating a pulse intensity or a time control concept of transmission light according to a distance to an object according to an embodiment of the present invention.
FIG. 19 is a diagram illustrating a pulse intensity or time control concept of a transmission light to which a PN code is applied according to a distance to an object according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments of the invention are shown. It is to be understood, however, that the present invention covers all modifications, equivalents, and alternatives falling within the spirit and scope of the present invention, since the present invention is not intended to be limited to the specific embodiments. Although similar reference numerals are used for similar components in describing each drawing, it will be understood that, for example, the terms first, second, etc. are used only for the purpose of distinguishing one component from another, Should not be construed as being limited to the first, second, etc. terms. The terms may be referred to as a second component without departing from the scope of the present invention, and on the same principle, the second component may also be referred to as a first component.

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The objects and features of the present invention will become more apparent from the following detailed description of the embodiments and examples.

First, FIG. 2 through FIG. 4 will be described with reference to FIG.

2 is a diagram conceptually showing a flowchart for storing an event image in a black box using a camera.

As shown in FIG. 2, the conventional black box normally records and stores an image (S11). When an event is detected (S12), an event image is generated and stored (S13 and S14). Here, the recording and storing of the image includes a temporary storage form, and storing the event image includes a permanent storage form.

The event image is stored in a nonvolatile SD card or the like and is used to reproduce the evidence in the future. The start and end are determined by the setting.

At this time, whether or not an event occurs is determined by detecting an impact corresponding to a collision or a collision of the vehicle. Here, the event image is stored as an image from about 10 seconds before the event is generated until the end of the event.

Fig. 3 is a diagram showing the principle of jamming when laser beams from the laser beams interfere with each other when a plurality of Lidar sensors are mixed in a factory zone. (FIG. 3 shows only the beam width at the time of scanning Lada. However, since the scanning light is very confusingly developed due to the diffused reflection light scattered by the object, the signal interference concept of FIG. Please understand.

3, since the LIDAR sensor 9 detects an independent space, there is no signal interference from other LIDAR sensors, but other LIDAR sensors 1, 2, 3, 4, 5, 6, 7, Because they all detect the same space with different angles, the signals of each other interfere with each other.

For example, Lidar sensor 1 is affected by Lidar sensor 4 and jamming occurs in Ic sector. Lidar sensor 3 is affected by Lidar sensor 1 and jamming occurs in Ia sector.

As a result of the same principle, the sectors Ib, Id, Ie, and If all undergo interference due to the signals of the opposing Ridas sensors. Here, interference refers to a phenomenon in which, other than a transmission signal transmitted by itself, another unintended optical signal is received at the reception point.

Since the transmission time point or the transmission position, which is a reference, can not be known when an unintended reception signal is received as described above, The detection function can not be performed. Therefore, the received signal is only given an adverse effect on a kind of optical signal noise. This will be referred to as interference in the present invention.

Fig. 4 is a view for explaining the principle in which the optical signal from the transmission point is reflected and lost in the room when the lidar is operated in the vehicle interior by scanning.

When the Lidar sensor passes through a window formed at right angles, it passes straight through the window and goes straight to the object to be detected (10a). However, when the LIDAR sensor in the vehicle interior projects an optical signal to the window 15a arranged at an inclined angle as shown in Fig. 4 for scanning, part of the optical signal goes straight to the window 15a, More light energy is reflected back to the room. As a result, there is a problem that the optical signal becomes useless and is lost in the room.

Similarly, when projecting an optical signal to the window 15a at an inclined angle, a part of the light is effectively used through the window 15a, but there is a problem that more light energy is reflected to the room and lost.

Since the Lada optical signal that is lost in the room loses its function as an object detection purpose, its function is degraded as it is lost.

Hereinafter, various embodiments utilizing the lidar detection device of the present invention will be described in detail with reference to the accompanying drawings. There are a variety of devices as well as a black box as a lite detection device, but for convenience of explanation, it will be assumed that the Lada detection device is a black box.

FIG. 5 is a view showing a Lada black box according to the first embodiment of the present invention.

5, the Lada black box 502 of the present embodiment may be installed, for example, in the upper portion 500 of the front windshield of the vehicle and may include an image acquisition device such as a camera 510 and Lada 502).

In addition, although not shown, the Lada black box 502 may further include an ADAS module and a shock sensor, for example, a gyro sensor. However, gyro sensors are not an essential component.

Meanwhile, the Lada black box 502 may include a black box module (not shown), or may be connected to an external black box module through a wired or wireless connection. In this case, the black box module may be installed inside the vehicle or outside.

The camera 510 photographs an object in front (or rear) of the vehicle as a wide-angle camera image.

Lidar 512 detects objects in front (or rear) of the vehicle as spot beams. More specifically, for example, in FIG. 5, the left side of FIG. 5 outputs a spot beam, and the right side of FIG. 5 receives a spot beam reflected by an object and incident.

According to one embodiment, the ladder 512 may emit a spot beam to detect the distance between the vehicle and the object. In terms of detecting the distance, Lada 512 can be named a distance detector and can be seen as an example of a distance detector.

According to another embodiment, the RLayer 512 modulates and outputs the spot beam with an identification code as described later, and can demodulate the reflected and received reflected beam into an identification code. Here, the configuration for modulating and demodulating the spot beam with the identification code is one of the characteristic features of the present invention.

The ADAS module is connected to the impact detection sensor and the camera 510 to analyze whether the acquired image is the event image information. The result is connected to the LADA 512. If the result detected by the LADA 512 is the event detection information And can be analyzed as an object analysis program.

The black box module is connected to at least one of the camera module 510 and the ADAS module 512 to determine the event image information or the event detection information, The event image information and the event detection information may be stored in the external device (not shown) or in the Lada black box 502 when it is determined that there is a possibility of collision with the vehicle ahead.

For example, if the current vehicle speed is 100 kilometers and the distance from the next vehicle is less than 10 meters, the black box module determines that there is an accident with the next vehicle, Event detection information can be stored.

Meanwhile, the black box module determines the possibility of an accident and stores the event image information and the event detection information, but the possibility of an accident is an example of a specific condition. That is, the black box module can store the event image information and the event detection information when a predetermined condition is satisfied.

In addition, the black box module can display the stored event image information and the stored event detection information in an overlapping manner when a user requests it. Here, the black box module may include a display device or may be connected to an external display device.

That is, the ADAS module linked to the cameras 510 and 512 may be coupled with the black box module to store and display the event image information and the event detection information.

Here, a camera 510 installed in a vehicle interior for photographing an object in front of (or behind) a vehicle with a wide-angle camera image means a means for photographing an image that can be directly checked by the naked eye.

Lidar (512) installed in the interior of the vehicle to detect objects in front (or rear) of the vehicle as spot beams; includes detection using emission and reflection of radio waves or optical energy.

In the present invention, this configuration is characterized in that only an object detecting signal emitted from its own vehicle by modulating an optical signal as an identification code to be described later, that is, an ID code, As shown in FIG.

In the meantime, instead of adopting a configuration in which a Lada signal is scanned indoors, the present invention adjusts a pitch only within a range of an optical lens to thereby adjust the pitch of the optical signal, (See FIG. 8).

An ADAS module connected to the impact detection sensor and the camera 51 for analyzing whether the event image information is included or not and being connected to the Lada 512 and analyzing whether there is event detection information using an object analysis program, And recording the image or object information. At this time, the object analysis program refers to a configuration for interpreting a situation in which a collision is predicted as a close state in consideration of the speed of the vehicle and the other vehicle. A specific principle of this will be described in the utilization example of FIG.

A camera 510, a RDA 512, and an ADAS module, and stores the event image information or event detection information. When the event image information and the event detection information are reproduced, In the black box module 120, when the event detection information is overlapped and displayed, the event image information is stored. The image stored in the camera is stored when the sensor detects an impact event. When the optical signal transmitted from the optical signal reaches the object and the signal reflected from the object is determined to be a specific danger signal, the object detection information is converted into a time and distance function on the XY coordinate system And stores the image data.

In such a configuration, a separate storage medium or table must be used because the images storing the entire screen as a whole and storing the time distance function data in order to detect objects within a specific XY coordinate range have different properties. For example, it is desirable to store the image data as a frame and the object detection data as point coordinates.

This means that when displaying overlay of heterogeneous data in order to reproduce on one screen, there is a means for preventing the pitch of each other from being shifted, i.e., a means for overlapping in which coordinates the detection point should be taken in the image frame screen. It will do the same.

It is very difficult to match the focus of the camera with the focus of the optical system of Lada because in reality, it is very difficult to match the focus of the camera with that of Lada It is pitch adjustment to match it in software. That is, software means for correcting the focal point of the Lada 512 to the actual object position while moving the focal point on the image screen in the XY coordinates is a pitch adjustment configuration.

If this is applied as a reverse idea, this pitch adjustment structure can be intentionally shifted within a certain range once necessary after the calibration is completed, and this is an application example in which the fiducial focus is moved by being interlocked with the handle (See FIG. 9). Here, the movement includes a certain range of left and right, for example.

And the ADAS module and the black box module are linked and combined, which corresponds to a generalized summary of the above functions. In other words, the camera 510 obtains the event image information, Lda acquires the event detection information through the object analysis program of FIG. 10 described later, stores the information individually, The operation that is displayed on one screen by overlapping is abbreviated.

Particularly, through the above-described configuration, event data can be faithfully stored even in the daytime as well as during the daytime, and furthermore, it is possible to accurately capture the detection object by combining with the image of the camera without the scanning configuration of the LADIA 512. [

The scanning function of the scanner 512 is intended to scan the laser beam in the form of a vertical plane array, while collecting the reflected signals detected within the scanning range, and to form an image on the computer screen. However, in the present invention, since the camera captures such a comprehensive image as a real image, the Lada 512 can detect it as a spot rather than a scanning. (However, the focal point can be shifted within a certain range for the interlocking of the handles described later.)

In terms of hardware structure, it is possible to adopt a shape in which a lidar 512 is attached to a window of a vehicle in a fixed manner rather than a scanning structure.

According to an embodiment, when the ADAS module recognizes the event image information or the event detection information, the hazard lamp system of the vehicle and the ADAS module may be combined to automatically control the hazard lamp system of the vehicle.

If the hazard lamp is automatically activated when the event image information or event detection information is recognized, the ADAS module can operate supplementary damaging lamp operation that can not reach the human ability in a very critical situation and urgent information delivery to the follower vehicle And a safety alarm function for preventing secondary accidents is secured.

Figure 6 is an illustration of Figure 5 as an electronic circuit block diagram.

That is, according to the hardware configuration of the present invention depicted in FIG. 6, the present invention shown in FIG. 5

The camera 510 and the LIDAR 512 are connected to the ADAS module and the black box module such as the display unit and the hazard lamp are connected to the ADAS module.

Furthermore, a manual operation mechanism for manually operating the hazard lamp is connected to an electronic control unit (ECU) for controlling the function of the vehicle. The operation of each component has been described above, so redundant description is omitted.

FIG. 7 is a diagram showing a concept in which an identification code (for example, PN (Pseudo Noise)) is added to an optical signal in order to prevent interference between signals.

In the present invention, the Lada 512 modulates and transmits a signal 10a emitted to a spot beam and a signal reflected by an object to an identification code 110b (PN code or the like) so that the optical signal emitted by the Lada 512 is emitted from another signal source And a configuration distinguished from an optical signal.

The principle of this configuration can be described as the principle of code division multiple modulation (CDMA) in a mobile communication network.

In other words, CDMA in the mobile communication network uses the same frequency domain using pseudo noise code, but differentiates the information to be transmitted while passing through the matched filter. When this configuration is applied to (512) Even if interference occurs in the same frequency and time-base characteristics of the optical signals of each other, it is possible to perform a selective operation in which only the modulated code is selectively demodulated. However, considering the high-speed detection, it is advantageous that the number of bits of the PN code is small at this time.

In other words, Fig. 7 explains the characteristic configuration and function of the present invention which excludes signal interference between other vehicles by applying an identification code of the electromagnetic system to the transmission and reception of the optical system.

Specifically, the identification signal generated in the electromagnetic system 111b is modulated and transmitted (10a) by the optical system 110b. After the transmitted optical signal is reflected by the object and received by the optical system, it is converted into an electromagnetic field again, .

At this time, the principle of code division multiple access (CDMA) using a code modulation, for example, a PN code, is applied to the identification code.

In addition, the identification code may identify a source as a header principle of an address classification using an IP (Internet Protocol). In any case, the present invention includes a construction for solving inter-ladder signal interference by applying an electromagnetic field communication technology or the like to an optical system, and particularly includes a principle of asynchronism that codes can be individually generated and used without mutual interference.

8 shows a principle in which the signal transmitted from the optical system transmitting section 10a of the cradle is reflected on an object and is condensed and received (13a) on the optical system receiving section 13 through the lens 13b formed on a window .

Even if the optical signal is originally transmitted from one point, when a light is incident on an object forming a polygon, a substantial part of the optical signal is lost while being diverged in the other direction. In addition, the front or rear glass of the vehicle has a certain inclination angle as shown in FIG. 4, 15b, so that even if reaching the window, the light angle to the effective component reaching the receiver can not be formed.

Therefore, the lens 13b functions only on the inside of the window (for example, the front windshield of the vehicle) so as not to damage the operation of the window wiper (brush) And the optical signal 13a is guided to the optical fiber 13 via the optical fiber. When a certain portion of the light is condensed by using the lens 13b, not only the sensitivity of the received signal can be increased, but also when adjusting the pitch of the LADO focus by a certain amount of the steering wheel interlock (to be referred to as? R, 30b, It is possible to prevent the phenomenon that the sensitivity of the optical signal is lowered.

Here, damage in window wiper operation is not a mechanical disturbance, but a phenomenon that water droplets remain when cleaning rainwater in a window.

That is, the lens of the present invention means, for example, means for forming a lens inside the vehicle so as not to interfere with the window wiper while having a function of converging and amplifying the received light by the function of a concave lens.

FIG. 9 is a conceptual diagram showing a configuration in which the optical system transmitter and receiver of the above-described Rada change the detection direction according to the steering of the steering wheel of the vehicle.

This configuration refers to a configuration in which the steering direction of the vehicle is changed in the steering direction of the vehicle by adjusting the pitch in accordance with the steering wheel angle change DELTA R of the vehicle within the range in which the effect of the lens 13b in Fig. 8 is obtained.

Such a steering wheel interlocking configuration is a new black box, in that the camera is automatically adjusted in advance to automatically adjust the observation direction of the black box in conjunction with the curve on the road as a new conception.

The directional interlocking of the steering wheel and the lidar black box can be accomplished as a wireless IoT (object internet) sensor interlocking technique which detects the rotation angle of the steering wheel and interlocks with it.

FIG. 10 is a flowchart for explaining a configuration of an inter-object distance analyzing program for judging that it is event detection information when the moving speed of the object detected from the ADAS module of FIG. 5 or the moving speed of the object detected by the ADAS module is less than a predetermined detection distance.

That is, reference numeral 300 in FIG. 10 is a step of sensing the vehicle speed. In this case, it is possible to determine the speed of the own vehicle and the vehicle speed of the other vehicle by interlocking with vehicle-to-vehicle wireless communication (e.g., WAVE).

Alternatively, the speed of the other party can be calculated from the change in own speed and the distance per hour between the opponent vehicle. In other words, it is possible to derive the safe distance according to the vehicle speed by determining the speed based on only one vehicle or by determining the speed of the other vehicle by interlocking with each other.

In FIG. 10, reference numeral 301 denotes a configuration for sensing the inter-vehicle distance. Here, RL 512 detects the distance.

In FIG. 10, reference numeral 302 denotes a configuration for judging whether or not it is within a safety distance. This determines whether to process the event.

In FIG. 10, reference numeral 303 denotes a step of processing event image information and event detection information. In this process, the image information of the camera and the detection information of the lidar are stored (304), and the hazard lamp is interlocked (305) selectively.

11, the black box module 120 in FIG. 5 combines the event image information 110aa and the event detection information 110ba in the overlapping manner 117 in FIG. 11, and the position of the object on the event image information 110aa, And the pitch is adjusted in software so that the position of the object detected by the beam is matched.

As a specific example for this configuration, the camera image and the XY coordinate data of the lidar are separately stored, and when the time information at the time of reproduction is combined with the key value, the image from the camera and the optical system for the lidar detection are displayed on a single screen As shown in Fig. At this time, the difference portion can be achieved by finely adjusting the coordinate pitch on the display up, down, left and right.

In FIG. 11, if a plurality of points in the Lada image are adjusted to the camera image and the zero point is adjusted, the software can be corrected by the same technique without any structural changes such as a case or the like even if a part is distorted .

FIG. 12 shows a principle in which the black box module in FIG. 5 displays the moving speed, distance information, and the like for an object detected by the spot beam on an object of a camera image by overlapping the event image information with the event detection information will be.

That is, in FIG. 12, the distance 115bb from the front side of the vehicle is displayed on the upper right side, and the current speed 115ba is displayed on the upper left side. In this display, the current speed may be displayed as the speed of the next vehicle, the speed of the vehicle itself may be displayed, or the speed difference between the next vehicle and the next vehicle may be displayed. In addition, it can display and store various useful information highlighted by differences in camera image and lidar detection.

According to another embodiment, the distance or current speed may be displayed in color rather than numerically. For example, the color of the displayed image 115bb may vary depending on the distance, and the distance from the vehicle ahead through the color can be grasped. Of course, both numbers and colors can be used.

In addition, in FIG. 12, it can be seen that information about the position of the other party is also displayed by the coordinate point, and the coordinate point is interlocked to change the pitch to the left or right according to the steering of the steering wheel It may be configured to be. That is, the spot beam is changed on the object of the camera image in accordance with the detection direction of the lidar which is changed according to the steering of the handle while the event image information and the event detection information are overlapped.

Fig. 13 shows a state in which the lens 13 shown in Fig. 8 is changed at a certain angle by the direction switching 30a, 30b according to the steering wheel operation [Delta] R.

FIG. 14 is a conceptual diagram showing a first characteristic configuration of the present invention for a lidar detection device for positively preventing interference between optical signals crossed with an identification code in order to solve the problems of the prior art as shown in FIG.

That is,

(1, 2, 3, 4, 5, 6, 7, 8 and 9) for scanning an optical system signal at a plurality of azimuth angles to detect an object around the optical signal beam.

(PN1, PN2, ..., PNn) after modulating the optical system signal of the Lada into a unique identification code (PN1, PN2, ..., PNn) of the electromagnetic system. PNn), whereby the optical signal emitted from its own signal source is selectively received from an optical signal emitted from another signal source.

(1, 2, 3, 4, 5, 6, 7, 8, 9) described in FIG. 3, ), So redundant description is omitted.

In particular, since Lada includes a structure for generating alarms by sensing objects approaching within a certain radius in a place such as a factory, a reflector and a motor are usually used in a spherical or hemispherical enclosure, and a plurality of arrays And the left side and the right side are scanned, so that a three-dimensional image is drawn through the computer. However, if it operates only in this state, there is a problem that interference occurs in the conventional art as described in FIG. 3, so that it is resolved as the identification codes (PN1, PN2, ..., PNn).

The specific principle of the identification codes (PN1, PN2, ..., PNn) has been described with reference to FIG. In short, this identification code is a principle in which the identification signal of the electromagnetic system becomes a modulation / demodulation signal of the optical system.

In short, by combining the identification codes (PN1, PN2, ..., PNn) with Lida (1, 2, 3, 4, 5, 6, 7, 8, 9) Fig. 14 shows the principle that even if optical signals overlap each other in the search information, they are individually distinguished from each other and interference is eliminated.

In this regard, Fig. 15 shows a case where an identification code is configured as header control using IP, and Fig. 16 shows a case where an identification code is configured as a signal control using a PN code.

In the present invention, it is preferable that the identification code is randomly generated regardless of IP or PN code in that synchronization is not required in a configuration in which a plurality of Lada are independently operated.

The code division (CDM) scheme using the PN code of the present invention differs from the time division scheme (TDM) in the following manner.

division TDM (TDMA) CDM (CDMA) principle - Separate optical signals are used for each timeslot in time synchronous synchronous mode.
- Only one optical signal is used during one time period. - All optical signals without time slots are used in an asynchronous, non-synchronized manner, and each optical signal is distinguished by the promised code.
- Multiple optical signals overlap during a single time period Characteristic - As the number of users increases, the number of unused time slots increases, which increases the interval of undetected vacancies. Therefore, there is a limit to the capacity of users of optical signal.
- Synchronous control device such as central control device is needed to maintain synchronization - Even if the number of users is increased, there is no undetected blank period. Therefore, in principle, the user accommodation capacity is infinite (for example, 2 ^{32 ~}
- Synchronous control is unnecessary because it uses independent random number code by PN code.

Meanwhile, the present invention can be implemented with the second characteristic configuration of the present invention, which improves the energy saving and detection efficiency by changing the pulse shape in conjunction with the detection of the surrounding objects. 17 to 19 are conceptual diagrams for explaining this.

That is, the present invention includes a storage module for storing a detection result of the lidar as event detection information for detecting an ambient object at a detection position,

The transmission light of the above-mentioned Rada is characterized in that the pulse shape of the transmission light is changed according to the distance of an object or existence of an object in a detection range (including automatic measurement).

Here, the pulse shape of the transmission light can adopt a configuration in which the intensity of the transmission light is lowered when the object to be detected comes close, and the intensity of the transmission light is changed when the object is not close,

The time width of the transmission light may be narrowed when the object to be detected is close to the object to be detected,

By combining these two concepts, the intensity of the transmitted light becomes lower when the object to be detected approaches, and the time width is narrowed. When the object is not adjacent to the object to be detected, the intensity of the transmitted light is increased and the time width is widened. .

At this time, the pulse shape of the transmission light includes not only a structure in which the pulse shape is transmitted as continuous light in a pulse transmission section, but also a structure in which light modulated in PN code is transmitted in a pulse transmission section.

In order to explain in more detail, (a) in FIG. 17 is arranged to alternate between a transmission period 10aa and a rest period 10ab for transmitting light on the time axis 10a on which light is transmitted. This emission period is a period for emitting light to detect an object, and a rest period is a period for receiving an optical signal reflected in the opposite direction. FIG. 17A shows that transmission and reception of such light are controlled to be continuous (controlled on and off) by continuous light. FIGS. 17B and 17C show the principle that light modulated by the PN code 110b is transmitted during the dispatch time and that the PN code signal is reflected at the reception time 10ab. As can be seen from the figure, (b) and (c) are divided into different PN codes.

FIG. 18 (b) shows that FIG. 17 (a) changes in the form of a pulse. That is, it is a concept that uses light of relatively low energy to detect objects in the vicinity and to operate as a principle of increasing the energy by raising energy when it is required to detect a distant place.

18, the detection device automatically adjusts the energy consumption by reducing the light power when an object is detected in the vicinity of the object. If there is no object to be detected around the object, the detection device automatically increases the energy, The efficiency of detection is controlled at the same time.

18 (b) shows a concept of directly controlling the light intensity, and FIG. 18 (c) shows a concept of controlling the light time width. In the case of increasing the time width of the light, integrating the received light per unit time can provide a concept similar to the effect of increasing the light power as energy, so that it is possible to obtain the effect of directly controlling the energy, By adjusting the pulse width, it is possible to increase the resolution of detection for nearby objects.

Figure 18 (d) is a concept of mixing (b) and (c), so that the principle can be understood even if the detailed explanation is omitted.

19 (a) to 19 (d) illustrate how the modulation of the PN code is added during the pulse transmission time in the configuration in which the principles of FIGS. 18 (a) to 18 (d) are directly applied. That is, in addition to the principle that the intensity and / or the pulse width of the pulse is changed, the PN code is further included, thereby ensuring accurate detection capability and energy efficiency of the Lada while preventing interference when a plurality of Lada sensors are mixed around. It is an invention.

It will be apparent to those skilled in the art that various modifications, additions and substitutions are possible, without departing from the spirit and scope of the invention as defined by the appended claims. Should be regarded as belonging to the following claims.

Claims (8)

For detecting surrounding objects at the detection location; And
And a storage module for storing the detection result of the lidar as event detection information,
Wherein the pulse shape of the transmission light output from the ladder is variable depending on the distance or the presence or absence of the object within the detection range. The method according to claim 1,
Wherein the pulse shape of the transmission light is variable so that the strength of the transmission light when the object to be detected is low and the intensity of the transmission light when the object to be detected is not nearby. The method according to claim 1,
Wherein the pulse shape of the transmission light is changed such that a time width of the transmission light becomes narrow when an object to be detected is close to a time width of the transmission light when the object to be detected is not close to the object. The method according to claim 1,
The pulse shape of the transmission light is set such that the intensity of the transmission light is lowered and the time width is narrowed when the object to be detected is in proximity and the intensity of the transmission light is increased when the object to be detected is not close, Characterized in that the detection signal is changed. 5. The method according to any one of claims 1 to 4,
Wherein the pulse shape of the transmission light is transmitted as continuous light in a pulse transmission period. 5. The method according to any one of claims 1 to 4,
Wherein the pulse shape of the transmission light is transmitted as light modulated with a PN code in a pulse transmission period. For detecting surrounding objects at the detection location; And
And a storage module for storing the detection result of the lidar as event detection information,
Wherein the transmission lights output from the ladder have different identification codes for the same frequency and the reflection signals of the transmission lights are distinguished from other reflection signals through the identification code. 8. The apparatus according to claim 7, wherein the pulse shape of the transmission light output from the ladder is variable depending on the distance or the presence of the object within the detection range.

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