KR20210066665A - Stereoscopic map output device using 3D Lidar system and 3D printer - Google Patents

Stereoscopic map output device using 3D Lidar system and 3D printer Download PDF

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KR20210066665A
KR20210066665A KR1020190156193A KR20190156193A KR20210066665A KR 20210066665 A KR20210066665 A KR 20210066665A KR 1020190156193 A KR1020190156193 A KR 1020190156193A KR 20190156193 A KR20190156193 A KR 20190156193A KR 20210066665 A KR20210066665 A KR 20210066665A
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lidar
printer
features
terrain
lidar system
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이정현
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이정현
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/30—Auxiliary operations or equipment
    • B29C64/386—Data acquisition or data processing for additive manufacturing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y50/00—Data acquisition or data processing for additive manufacturing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/003—Maps

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  • Physics & Mathematics (AREA)
  • Materials Engineering (AREA)
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  • Manufacturing & Machinery (AREA)
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  • Radar, Positioning & Navigation (AREA)
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  • Computer Networks & Wireless Communication (AREA)
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  • Optics & Photonics (AREA)
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  • Educational Technology (AREA)
  • Mathematical Physics (AREA)
  • Electromagnetism (AREA)
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Abstract

The present invention relates to a stereoscopic map output device using a 3D lidar system and a 3D printer, and more particularly, to a device in which the 3D lidar system scans terrain features and outputs a 3D scan file to a 3D printer. When the 3D lidar scan part of the present invention is attached to a drone, autonomous vehicle, manned aircraft, etc., to scan the terrain features, it is possible to conveniently and easily output a stereoscopic map without manually working on the stereoscopic map.

Description

3D 라이다 시스템과 3D 프린터를 이용한 입체지도 출력 장치{Stereoscopic map output device using 3D Lidar system and 3D printer}Stereoscopic map output device using 3D Lidar system and 3D printer

본 발명은 3D 라이다 시스템과 3D 프린터를 이용한 입체지도 출력 장치에 관한 것으로, 특히 3D 라이다 시스템이 지형,지물을 스캔하여 3D 스캔 파일을 3D 프린터로 출력하는 장치이다.The present invention relates to a 3D lidar system and a device for outputting a stereoscopic map using a 3D printer, and more particularly, to a device in which the 3D lidar system scans terrain and features and outputs a 3D scan file to a 3D printer.

일반적으로 입체지도를 제작하기 위해서는 2D 지형도를 바탕으로 등고선을 따라 그리는 수작업 방식을 많이 쓰이게 되는데, 지형도가 예전에 만들어졌거나, 정확하지않은 경우 입체지도 또한 정확하지 않을 가능성이 존재한다.In general, in order to produce a three-dimensional map, a manual method of drawing along contour lines based on a 2D topographic map is often used. If the topographic map has been made before or is not accurate, there is a possibility that the three-dimensional map will also be inaccurate.

또한, 수작업으로 작업하므로 시간 및 비용의 발생이 많이 발생하게 되고, 이 입체 지형 지도를 2차 제작할시 다시 한번 수작업을 해야하는 번거로움이 발생하게 된다.In addition, since the work is done manually, a lot of time and money are generated, and when the three-dimensional topographic map is produced secondarily, the inconvenience of having to manually work again occurs.

한국 공개특허 제 10-2019-0130454호 (2019년11월22일. 공개)Korean Patent Publication No. 10-2019-0130454 (November 22, 2019. Publication)

본 발명은 상기한 종래의 제반 문제점을 해결하기 위하여 안출된 것으로, 본 발명의 목적은 지형 지도의 제작을 수작업으로 하지않아도, 3D 라이다 시스템을 이용하여 지형 지물을 스캔하고 3D 스캔 파일을 3D 프린터로 출력하여, 정확도 및 시간의 효율성을 높일수있으며, 2차 지도를 제작할시 3D 라이다로 스캔 하지않아도, 3D 스캔 파일을 가지고 2차 지도를 빠르게 출력할 수 있는 장치를 제공하는데 있다.The present invention has been devised to solve the above-mentioned problems in the prior art, and an object of the present invention is to scan a terrain feature using a 3D lidar system and print a 3D scan file to a 3D printer without having to manually produce a terrain map. It is possible to increase the accuracy and time efficiency by outputting to the .2D map, and it is to provide a device that can quickly print a secondary map with a 3D scan file without having to scan it with 3D lidar when making a secondary map.

상기한 목적을 달성하기 위하여 본 발명은 3D 라이다 스캔부; 3D 스캔된 파일을 3D지형 지물로 출력할수있는 3D 프린터출력부; 를 포함하여 이루어지는 3D 라이다와 3D 라이다 시스템와 3D 프린터를 이용한 입체지도 출력 장치를 제공한다.In order to achieve the above object, the present invention provides a 3D lidar scan unit; 3D printer output unit that can output 3D scanned files as 3D topographic features; It provides a 3D lidar system including a 3D lidar system and a stereoscopic map output device using a 3D printer.

본 발명에서 3D 라이다 스캔부는 드론이나 자율이동체, 유인 항공기 등에 탑재될 수 있으며, 3D 라이다 스캔부는 3D 라이다와 IMU나 INS, 배터리, 초소형 컴퓨터로 이루어지고 사용시에는 3D 라이다 스캔부의 라이다 부분에서 레이저 펄스를 발사하여 반사되어 돌아오는 시간을 측정하여 반사체의 위치좌표를 측정하고, 융합된 IMU나 INS 는 라이다의 위치 정보을 기억하여 라이다와 초소형 컴퓨터를 보조해준다. 초소형 컴퓨터는 3D 라이다의 스캔된 파일을 처리하고, IMU/INS 로 기억된 위치 정보를 바탕으로 3D 라이다의 위치를 표시한다. 배터리는 라이다와 초소형 컴퓨터에 전원을 공급한다. 드론, 자율이동체, 유인항공기 등에 탑재될때 흔들림 방지를 위하여 짐벌을 이용하여 라이다의 흔들림을 완화 할 수 있다.In the present invention, the 3D lidar scan unit can be mounted on a drone, autonomous vehicle, manned aircraft, etc., and the 3D lidar scan unit consists of a 3D lidar, an IMU or INS, a battery, and a miniature computer. The position coordinates of the reflector are measured by emitting a laser pulse from the part and measuring the time it takes to reflect and return, and the fused IMU or INS memorizes the position information of the lidar and assists the lidar and the microcomputer. The microcomputer processes the scanned file of the 3D lidar and displays the position of the 3D lidar based on the position information stored in the IMU/INS. The battery powers the lidar and microcomputer. When mounted on drones, autonomous vehicles, and manned aircraft, a gimbal can be used to reduce the shaking of lidar.

본 발명에서 3D 프린터 출력부는 3D 스캔 파일을 출력 할 수 있으며, 3D 라이다 스캔부의 초소형 컴퓨터와 연결하여 스캔된 3D 스캔 파일을 수정할 수 있다.In the present invention, the 3D printer output unit may output a 3D scan file, and the 3D lidar scan unit may be connected to a miniature computer to modify the scanned 3D scan file.

본 발명의 3D 라이다 스캔부를 드론, 자율이동체, 유인 항공기 등에 부착하고 지형, 지물을 스캔을 하게 되면 입체 지형 지도를 수작업으로 작업하지 않아도 편하고 쉽게 입체 지형지도를 출력할 수 있다.If the 3D lidar scan unit of the present invention is attached to a drone, autonomous vehicle, manned aircraft, etc. and the terrain and features are scanned, it is possible to conveniently and easily output a three-dimensional topographical map without manually working on the three-dimensional topographical map.

도 1은 본 발명의 전체 적인 모습을 도시한 블록도,1 is a block diagram showing the overall appearance of the present invention;

이하, 본 발명은 3D 라이다 스캔부(100), 3D 프린터 출력부(200)로 이루어져 있다. Hereinafter, the present invention consists of a 3D lidar scan unit 100 and a 3D printer output unit 200 .

3D 라이다 스캔부(100)는 3D 라이다(110), 초소형 컴퓨터(130), 배터리(140), IMU/INS(120) 로 이루어져있다. 3D 라이다(110)부분에서 레이저 펄스를 발사하여 반사되어 돌아오는 시간을 측정하여 반사체의 위치좌표를 측정하고 그 정보를 초 소형 컴퓨터(130)로 보내게 되고, 초 소형 컴퓨터(130)는 3D 정보를 입체 지형 지도화 하게 된다. 입체 지형지도화 한 3D 정보는 수정, 삭제가 가능하다. 3D 라이다 스캔부의 IMU/INS(120) 부분은 3D 라이다 와 초소형 컴퓨터를 보좌하는 역활로 위치정보를 기억하여 3D 지형 지도 내 라이다의 위치를 표시한다. The 3D lidar scan unit 100 includes a 3D lidar 110 , a miniature computer 130 , a battery 140 , and an IMU/INS 120 . The 3D lidar 110 part emits a laser pulse and measures the reflected return time to measure the position coordinates of the reflector and transmits the information to the microcomputer 130, and the microcomputer 130 is 3D The information is mapped into a three-dimensional topographical map. It is possible to modify and delete 3D information that is three-dimensionally mapped. The IMU/INS (120) part of the 3D lidar scan unit displays the position of the lidar in the 3D topographic map by storing the position information as a role to assist the 3D lidar and the microcomputer.

또한, 본 발명에서 3D 라이다 스캔부(100)은 이동체에 부착되었을시, 흔들림으로 정보의 오류를 일으킬수있으므로 짐벌을 달아 흔들림을 완하한다.In addition, in the present invention, when the 3D lidar scan unit 100 is attached to a moving object, it can cause information errors due to shaking, so a gimbal is attached to relieve the shaking.

배터리(140)는 3D 라이다(110)와 초소형 컴퓨터(130)에 전력을 공급하는 역할을 한다. The battery 140 serves to supply power to the 3D lidar 110 and the microcomputer 130 .

3D 프린터 출력부(200)는 초소형 컴퓨터(130)가 처리한 입체 지형 지도화 된 정보를 3D 출력하는 역할을 맡게 된다. 3D라이다 스캔부(100)와 3D프린터 출력부(200)는 유,무선으로 연결 될 수 있다.The 3D printer output unit 200 is responsible for 3D outputting the three-dimensional topographical map information processed by the microcomputer 130 . The 3D lidar scan unit 100 and the 3D printer output unit 200 may be connected by wire or wirelessly.

10 : 3D 라이다 시스템과 3D 프린터를 이용한 입체지도 출력 장치
100 : 3D 라이다 스캔부
110 : 3D 라이다
120 : IMU/INS
130 : 초소형 컴퓨터
140 : 배터리
200 : 3D 프린터 출력부10: Stereoscopic map output device using 3D lidar system and 3D printer
100: 3D lidar scan unit
110 : 3D Lidar
120: IMU/INS
130: microcomputer
140: battery
200: 3D printer output unit

Claims (9)

드론이나 자율이동체,유인 항공기등에 탑재되어 지물을 스캔하여 3D 지형, 지물 파일로 만들 수 있는 3D 라이다 스캔부;를 포함하는 3D 라이다 시스템
3D lidar system including a 3D lidar scan unit that can be mounted on drones, autonomous vehicles, and manned aircraft to scan features and create 3D terrain and feature files
 청구항 1에 있어서,
상기 3D 라이다 스캔부는 3D 라이다, 초소형 컴퓨터, 배터리, IMU/INS 로 이루어진것을 특징으로 하는 3D 라이다 시스템
The method according to claim 1,
The 3D lidar scan unit is a 3D lidar system, characterized in that consisting of a 3D lidar, a miniature computer, a battery, and an IMU/INS.
 청구항 2에 있어서,
상기 3D 라이다는 지형, 지물을 스캔할수있게 이루어져 지형, 지물을 점으로써 표현하고, 입력받은 파일을 초소형 컴퓨터로 전송하는 특징을 가진 3D 라이다 시스템
3. The method according to claim 2,
The 3D lidar is a 3D lidar system with features such that the terrain and features can be scanned, and the terrain and features are expressed as dots and the received file is transmitted to a microcomputer.
 청구항 2에 있어서,
상기 초소형 컴퓨터는 3D 라이다로 부터 입력받은 지형, 지물의 3D 정보를 처리하는 특징을 가진 3D 라이다 시스템
3. The method according to claim 2,
The miniature computer is a 3D lidar system having a feature of processing 3D information of terrain and features input from the 3D lidar
 청구항 2에 있어서,
상기 IMU/INS 는 3D 라이다의 위치정보를 저장하고, 라이다가 움직임을 파악하는 장비로, 초소형 컴퓨터와 연결되어 지형, 지물의 3D 위치정보를 표시하는 특징을 가진 3D 라이다 시스템
3. The method according to claim 2,
The IMU/INS is a device that stores the location information of 3D lidar and detects the movement of the lidar, and is a 3D lidar system that is connected to a microcomputer and displays 3D position information of terrain and features.
 청구항 2에 있어서,
상기 배터리는 3D 라이다와 초소형 컴퓨터에 전원을 곱급하는 특징을 가진 3D 라이다 시스템
3. The method according to claim 2,
The battery is a 3D LiDAR system with a feature that multiplies power to 3D LiDAR and microcomputer
 초소형 컴퓨터와 연결되어 3D 정보처리 된 지형, 지물들을 입체지형지도화 하여 출력하는 역할을 하는 3D 프린터 출력부;을 포함하는 3D 프린터를 이용한 입체지도 출력 장치
A stereoscopic map output device using a 3D printer, including a 3D printer output unit that is connected to a microcomputer and plays a role of outputting a three-dimensional topographic map of the 3D information-processed topography and features
 청구항 7에 있어서,
상기 3D 프린터 출력부와 초소형 컴퓨터의 연결은 유선, 무선 모두 이루워질수있는 특징을 가진 3D 프린터를 이용한 입체지도 출력 장치
8. The method of claim 7,
A three-dimensional map output device using a 3D printer having the feature that the connection between the 3D printer output unit and the miniature computer can be both wired and wireless
 청구항 7에 있어서,
상기 초소형 컴퓨터 내에 있는 3D 정보처리 된 지형, 지물의 입체 지도는 수정, 삭제 될수있는 특징을 가진 3D 프린터를 이용한 입체지도 출력 장치8. The method of claim 7,
remind A three-dimensional map output device using a 3D printer with the feature that the three-dimensional map of the terrain and features in the microcomputer can be modified or deleted
KR1020190156193A 2019-11-28 2019-11-28 Stereoscopic map output device using 3D Lidar system and 3D printer KR20210066665A (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190130454A (en) 2018-05-14 2019-11-22 주식회사 에스오에스랩 Lidar device

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