KR20210119080A - 3D Lidar conjugation data collection device using 2D LiDAR - Google Patents

Abstract

The present invention relates to a 3D LiDAR data collection device using a 2D LiDAR, which uses an inexpensive 2D LiDAR to collect 3D data. According to the present invention, the 3D LiDAR data collection device comprises: a 2D LiDAR detecting a reflected laser after laser emission, measuring the relative position of a target point by using an emission direction and time difference of the detected laser, and storing measured LiDAR point information; a LiDAR rotating unit rotating the 2D LiDAR according to a control signal; a rotation angle detection unit detecting rotation angle information of the 2D LiDAR according to rotation of the LiDAR rotating unit with respect to the LiDAR rotating unit; a location information providing unit providing location information of a driver's vehicle; and a control unit controlling the LiDAR rotating unit by providing the control signal including information on the rotation angle of the LiDAR to the LiDAR rotating unit to rotate the LiDAR rotating unit and combining the stored LiDAR point information, the detected rotation angle information, and the location information to generate and store 3D LiDAR information.

Description

3D Lidar conjugation data collection device using 2D LiDAR

The present invention relates to a three-dimensional data collection apparatus using a two-dimensional lidar, and more particularly, to an apparatus and method for collecting data using a lidar (LIDAR) utilized in an autonomous vehicle or a smart moving object.

In general, autonomous vehicles use expensive lidar to collect and use data, but in applications such as robot vacuum cleaners, a single two-dimensional, low-cost lidar is used.

In smart mobile applications such as robot cleaners and drones in these applications, there are many difficulties in terms of object detection performance as low-cost two-dimensional lidar is used.

The present invention has been devised to solve the conventional difficulties, and it is intended to provide an apparatus for collecting three-dimensional data (Point Cloud Data, hereinafter, referred to as “PCD”) using a two-dimensional lidar.

Another object of the present invention is to provide a method for collecting three-dimensional data using a two-dimensional lidar.

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

A three-dimensional data collection apparatus using a two-dimensional lidar according to an embodiment of the present invention for achieving the above object detects a laser reflected after laser radiation, and uses the radiation direction and a time difference between the detected laser and the relative position of the target point A two-dimensional lidar that measures and stores the measured lidar point information; a lidar rotating unit for rotating the two-dimensional lidar according to a control signal; a rotation angle sensing unit for detecting rotation angle information of the two-dimensional lidar according to the rotation of the lidar rotating unit based on the lidar rotating unit; a location information providing unit providing location information of the own vehicle; and control the lidar rotation unit by providing a control signal including rotation angle information of the lidar to the lidar rotation unit so that the lidar rotation unit rotates, and stores stored lidar point information, detected rotation angle information, and position information and a control unit for generating and storing the three-dimensional lidar information by combining.

According to an embodiment of the present invention, 3D data can be collected by using a low-cost 2D lidar, and it is effective in terms of volume, power consumption, and price of the device.

1 is a functional block diagram illustrating a three-dimensional data collection apparatus using a two-dimensional lidar according to an embodiment of the present invention.
Figure 2 is a reference diagram for explaining an example of the rotation of the two-dimensional lidar in an embodiment of the present invention.
3 is a signal flow diagram for explaining a signal flow of a three-dimensional data collection apparatus using a two-dimensional lidar according to an embodiment of the present invention.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the technical field to which the present invention belongs It is provided to fully inform the possessor of the scope of the invention, and the present invention is only defined by the scope of the claims. On the other hand, the terms used herein are for the purpose of describing the embodiments and are not intended to limit the present invention. As used herein, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” and/or “comprising” refers to a referenced component, step, operation, and/or component of one or more other components, steps, operations and/or components. The presence or addition is not excluded.

1 is a functional block diagram illustrating a three-dimensional data collection apparatus using a two-dimensional lidar according to an embodiment of the present invention.

2 is a reference diagram for explaining an example of rotation of a two-dimensional lidar in an embodiment of the present invention.

As shown in FIG. 1 , a three-dimensional data collection apparatus using a two-dimensional lidar according to an embodiment of the present invention includes a two-dimensional lidar 100 , a lidar rotating unit 200 , and a rotation angle sensing unit 300 . , a location information providing unit 400 and a control unit 500 .

The two-dimensional lidar 100 detects the laser reflected after the laser emission, measures the relative position of the target point using the time difference between the radiation direction and the detected laser, and stores the measured lidar point information.

In addition, the lidar rotating unit 200 rotates the two-dimensional lidar 100 according to a control signal of the controller 500 . A separate support is provided in the lidar rotating unit 200 in this embodiment, and the two-dimensional lidar 100 may be installed on the support. For example, when the two-dimensional lidar 100 is placed horizontally or mounted on the support 102 as shown in FIG. 1 , data can be collected while rotating about the Z-axis.

In addition, the lidar rotating unit 200 may rotate the two-dimensional lidar 100 by moving the support on which the two-dimensional lidar 100 is installed. Here, the movement means rotation about the x-axis, the y-axis, and the z-axis. That is, one side of the support may be fixed and the other side may be moved up and down, or moved left and right.

Such, the lidar rotating unit 200 is a rotating shaft 220 for rotating the support 210 to a specific axis, the support 210 is to fix one side of the support based on the specific axis and rotate the other side up and down. so that the first movement unit 230 for rotating the support up and down, and the support 210 fix one side of the support based on the specific axis and rotate the other side to the left and right, the support is left, It includes one or more of the second movement unit 240 for rotating to the right.

The rotation angle sensing unit 300 senses the rotation angle of the two-dimensional lidar 100 according to the rotation of the lidar rotating unit 200 based on the lidar rotating unit 200 . The rotation angle sensor 300 in this embodiment detects the degree of movement of the support 210 including the two-dimensional lidar 100 . That is, the rotation angle sensing unit 300 checks how much rotation the two-dimensional lidar has based on the reference line, the reference plane or the reference angle, and sets and provides rotation angle information.

For example, when the support 210 on which the lidar 100 is installed rotates based on the z-axis, the rotation angle detection unit 300 detects at which angle the lidar 100 is rotated based on the X-axis.

For example, the rotation angle sensor 300 fixes one side of the support 210 on which the lidar 100 is installed and then moves the other side upward or downward (based on the x-axis, the z value is variable), according to the z value. Detects the angle formed with the x-axis.

For example, when the rotation angle sensing unit 300 moves the other side to the left or right after fixing one side of the support 210 on which the lidar 100 is installed (based on the x-axis, the y value is variable), the x-axis according to the y value Detects the angle formed with

In addition, the location information providing unit 400 provides its own location information and device location information. The location information of the autonomous vehicle in this embodiment may be a GPS means, and the location information of the own vehicle may be a location corrected and predicted using a previous location and using an IMU device or the like. Several methods may be used, but are not limited thereto.

And, the location information of the device represents the relative location information of the lidar or lidar rotating part with respect to the reference position of the own vehicle.

Meanwhile, the control unit 500 controls the lidar rotating unit 200 by providing a control signal including driving information of the lidar to the lidar rotating unit 200 so that the lidar rotating unit 200 is rotated.

In some cases, the controller 500 may set the rotation angle information and provide it to the rotation unit.

In addition, the controller 500 generates 3D lidar information by combining the stored 2-dimensional lidar information, i.e., lidar point information, rotation angle information, and position information, and then stores it.

The control unit 500 sets the PCD, which is 3D data obtained by resetting the position information of each POINT, using the position information provided from the position information providing unit 400 of the moving object, the rotation angle information, and the 2D data stored in the data storage unit, and Save to PCD storage. The PCD, which is the three-dimensional data, has position information of the reference coordinate system of the moving object. A memory may be used for the data storage unit and the PCD storage unit of the present invention.

Here, the data output from the two-dimensional lidar 100 and transmitted to the control unit 500 includes at least one of separation angle and distance information and intensity based on the reference axis (X) at the current location. For example, “There is a POINT that is reflected at a distance of 10 m at a point 30 degrees to the right of the x-axis.” provided in the same format.

If the position of the moving object (own vehicle) changes, the position of the moving object at a specific time is measured or estimated by using the moving position A and time stamp, which is time information, and the position B and time stamp, which is the time information, after moving. Based on the reset position information of each POINT, it is possible to store PCD, which is 3D LiDAR utilization data. Here, the PCD, which is the three-dimensional lidar utilization data, has position information based on the coordinate system of the moving object.

And, the position information of the moving object has the position (x, y, z) of the moving object based on the coordinate system, and has direction information. The direction information may include yaw, pitch, and roll information.

Hereinafter, an operation process of a 3D data collection apparatus using a 2D lidar according to an embodiment of the present invention will be described with reference to FIG. 3 .

First, the controller 500 provides rotation angle control information to the lidar rotation unit 210 (S100) to control the lidar rotation unit 200, and receives data from the two-dimensional lidar 100 (S200).

Then, the control unit 500 collects the rotation angle information sensed from the rotation angle sensor 300 for detecting the rotation angle of the lidar rotation unit 210, and collects the moving object position information from the position information providing unit 400. (S300).

Thereafter, the control unit 500 collects a plurality of two-dimensional lidar data collected from the two-dimensional lidar rotating unit 100 and the rotation angle information collected from the rotation angle sensing unit 300 and the position information provided unit 400. After generating 3D data using location information, it is stored.

The controller 500 corrects the position information of the moving object by using interpolation, and if necessary, corrects the position information of the PCD data by correcting the rotation angle information to generate 3D data, and then store it.

When the support including the two-dimensional lidar 100 rotates based on the z-axis, the rotation angle sensing unit 300 detects at which angle the support is rotated with respect to the X-axis.

That is, when the support including the two-dimensional lidar 100 moves up and down (x-axis fixed, z-value is variable), the rotation angle sensing unit 300 determines whether an angle formed with the x-axis is set according to the z value. detect

The rotation angle detection unit 300 detects which angle is set based on the x-y plane when the support including the two-dimensional lidar 100 moves left and right (x-axis fixed, y value is variable).

Two-dimensional lidar data and three-dimensional data are stored in the memory, and the control unit 500 that is a processor may store the three-dimensional data in the memory or read the stored three-dimensional data.

In this case, the memory refers to a non-volatile storage device and a volatile storage device that continuously maintain stored information even when power is not supplied.

For example, memory may include a compact flash (CF) card, a secure digital (SD) card, a memory stick, a solid-state drive (SSD), and a micro SD card, etc. It may include a magnetic computer storage device such as a NAND flash memory, a hard disk drive (HDD), and the like, and an optical disc drive such as a CD-ROM or DVD-ROM.

For reference, the control unit according to an embodiment of the present invention may be implemented in software or hardware such as FPGA (Field Programmable Gate Array) or ASIC (Application Specific Integrated Circuit), and may perform predetermined roles.

However, 'components' are not limited to software or hardware, and each component may be configured to reside in an addressable storage medium or to reproduce one or more processors.

Thus, as an example, a component includes components such as software components, object-oriented software components, class components and task components, and processes, functions, properties, procedures, sub It includes routines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables.

Components and functions provided within the components may be combined into a smaller number of components or further divided into additional components.

In addition, the term '~ unit' used in this embodiment means software or hardware components such as FPGA or ASIC, and '~ unit' performs certain roles. However, '-part' is not limited to software or hardware. The '~ unit' may be configured to reside on an addressable storage medium or may be configured to refresh one or more processors. Thus, as an example, '~' denotes components such as software components, object-oriented software components, class components, and task components, and processes, functions, properties, and procedures. , subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables. The functions provided in the components and '~ units' may be combined into a smaller number of components and '~ units' or further separated into additional components and '~ units'. In addition, components and '~ units' may be implemented to play one or more CPUs in a device or secure multimedia card.

In the above, the configuration of the present invention has been described in detail with reference to the accompanying drawings, but this is only an example, and those skilled in the art to which the present invention pertains can make various modifications and changes within the scope of the technical spirit of the present invention. Of course, this is possible. Therefore, the protection scope of the present invention should not be limited to the above-described embodiments and should be defined by the description of the following claims.

Claims (1)

a two-dimensional lidar that detects a laser reflected after laser radiation, measures the relative position of a target point using a radiation direction and a time difference between the detected laser, and stores the measured lidar point information;
a lidar rotating unit for rotating the two-dimensional lidar according to a control signal;
a rotation angle sensing unit for detecting rotation angle information of the two-dimensional lidar according to the rotation of the lidar rotating unit based on the lidar rotating unit;
a location information providing unit providing location information of the own vehicle; and
Control the lidar rotation unit by providing a control signal including the rotation angle information of the lidar to the lidar rotation unit so that the lidar rotation unit rotates, and the stored lidar point information, the detected rotation angle information, and the position information are combined A three-dimensional data collection device using a two-dimensional lidar including a control unit for generating and storing three-dimensional lidar information.

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