WO2016111437A1 - Appareil lidar à balayage et procédé appliqué à celui-ci - Google Patents

Appareil lidar à balayage et procédé appliqué à celui-ci Download PDF

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Publication number
WO2016111437A1
WO2016111437A1 PCT/KR2015/009129 KR2015009129W WO2016111437A1 WO 2016111437 A1 WO2016111437 A1 WO 2016111437A1 KR 2015009129 W KR2015009129 W KR 2015009129W WO 2016111437 A1 WO2016111437 A1 WO 2016111437A1
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WO
WIPO (PCT)
Prior art keywords
horizontal plane
unit
scanning
rotating
laser
Prior art date
Application number
PCT/KR2015/009129
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English (en)
Korean (ko)
Inventor
정영대
Original Assignee
한화테크윈 주식회사
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Publication of WO2016111437A1 publication Critical patent/WO2016111437A1/fr

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Classifications

    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • 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
    • 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
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver

Definitions

  • the present invention relates to a scanning lidar device and a method applied thereto, and more particularly, to a scanning lidar device for adjusting a measurement density so that blind spots that are not searched when a peripheral area is searched using a laser signal do not occur. And a method applied thereto.
  • Scanning lidar is used to detect surrounding terrain or objects in automobiles or mobile robots.
  • the scanning rider can scan the surrounding objects or the terrain by irradiating a laser signal to the surrounding area and using the reflected light reflected back to the surrounding objects or the terrain.
  • an omnidirectional scan radar that scans all directions while turning 360 degrees.
  • Such an omnidirectional scan radar is a structure that executes a scan about the periphery by rotating 360 degrees in the horizontal direction while the angle of irradiating the laser signal is fixed by the optical configuration.
  • the scanning lidar according to the prior art may have different densities measured on the surrounding terrain or objects according to the speed of rotation in the horizontal direction, but in the vertical direction, the densities measured on the surrounding terrain or objects are different. Does not change
  • an object of the present invention is a scanning line for adjusting the measurement density so that blind spots that are not searched do not occur when searching around using a laser signal.
  • An apparatus and a method applied thereto are provided.
  • Another object of the present invention is to provide a scanning lidar device and a method applied thereto for adjusting the measurement density of the surrounding space for each property of equipment equipped with the scanning lidar device.
  • the scanning lidar apparatus for achieving the above object is a laser unit for oscillating and receiving a laser signal directed to a specific area of the peripheral space, a first rotating unit for rotating the laser unit in a first horizontal plane, A position adjusting unit for adjusting an angle between the laser unit and the first horizontal plane on which the first rotating unit is located, and a second horizontal plane which is a scanning reference plane, and forming a second horizontal plane; one side of the first rotating unit and one side of the position adjusting unit And a second rotating part rotating the plate in the second horizontal plane.
  • the scanning lidar apparatus may further include a control unit configured to control rotation of at least one of the first rotating unit and the second rotating unit, and to control the driving of the position adjusting unit.
  • the position adjusting unit may adjust a plane angle intersecting the first horizontal plane and the second horizontal plane.
  • the position adjusting unit may adjust an amount of change in position of the first horizontal plane and the second horizontal plane when the first horizontal plane and the second horizontal plane contact at least one point.
  • the control unit calculates the measurement position and the measurement density by combining the control value for executing the rotation control and the control value for executing the drive control as a result of the operation of the laser unit, and based on the calculated measurement position and the measurement density, You can decide the rent.
  • the controller may perform the rotation control and the drive control with respect to the scanning blind spot.
  • the control unit may correct the scanning blind spot based on the property of the device equipped with the scanning lidar device.
  • the scanning method for achieving the above object in the scanning lidar device, the first horizontal plane and scanning corresponding to the rotation direction of the laser unit for oscillating and receiving a laser signal directed to a specific area of the peripheral space Adjusting an angle of a second horizontal plane as a reference plane, rotating a first rotating part rotating the laser part on the first horizontal plane, and a plate supporting a position adjusting part adjusting the first rotating part and the angle on the second horizontal plane; Controlling at least one of the second rotating parts and rotating the at least one of the first rotating part and the second rotating part according to a control signal.
  • the adjusting of the angle may include adjusting a plane angle that intersects the first horizontal plane and the second horizontal plane when the first horizontal plane and the second horizontal plane are in contact with each other.
  • Adjusting the angle may include adjusting a position change amount of the first horizontal plane and the second horizontal plane when the first horizontal plane and the second horizontal plane contact at least one point.
  • the method may further include adjusting an angle of the position adjusting unit so that the scanning blind spot is included in the scanning target area, and controlling driving of at least one of the first rotating unit and the second rotating unit.
  • the method may further include correcting the scanning blind spot on the basis of the property of the device equipped with the scanning lidar device.
  • the present invention provides a scanning lidar device and a method applied thereto to adjust a measurement density so that blind spots that cannot be searched when a peripheral area is searched using a laser signal are provided.
  • a scanning lidar device and a method applied thereto to adjust a measurement density so that blind spots that cannot be searched when a peripheral area is searched using a laser signal are provided.
  • FIG. 1 is a block diagram of a scanning lidar apparatus according to an embodiment of the present invention.
  • FIG. 2 is a system block diagram for driving the scanning lidar apparatus of FIG. 1.
  • FIG. 3 is an overall configuration diagram showing the scanning lidar apparatus of FIG. 1 as a specific example.
  • FIG. 4 is a partial configuration diagram showing an angle adjustment configuration as an example of the position adjustment unit of FIG. 1.
  • FIG. 5 is a partial configuration diagram showing another example of the angle adjustment configuration of the position adjustment unit of FIG.
  • FIG. 6 is an exemplary view illustrating a state in which the position adjusting unit of FIG. 3 is adjusted at a first angle.
  • FIG. 7 is an exemplary view showing a simplified trajectory of measurement density according to the apparatus state of FIG. 6.
  • FIG. 8 is an exemplary view illustrating a state in which the position adjusting unit of FIG. 3 is adjusted at a second angle.
  • FIG. 9 is an exemplary view showing a simplified trajectory of measurement density according to the apparatus state of FIG. 8.
  • FIG. 10 is a block diagram of a scanning lidar apparatus according to another embodiment of the present invention.
  • FIG. 11 is an exemplary view showing an example of a mobile robot to which the scanning lidar apparatus of the present invention is applied.
  • FIG. 12 is a flowchart illustrating a process of operating a scanning lidar apparatus of the present invention.
  • FIG. 1 is a block diagram of a scanning lidar apparatus according to an embodiment of the present invention.
  • the scanning lidar apparatus 100 has a configuration for adjusting the measurement density so that blind spots that are not searched do not occur when searching around using a laser signal.
  • the blind spot that cannot be searched refers to a specific area that cannot search surrounding objects or terrain when the entire area around the scanning lidar device 100 is located, or the scanning lidar device
  • the target 100 targets some spaces to be searched in the surrounding space, it refers to a more specific area among the some spaces in which the surrounding object or the terrain cannot be searched.
  • the scanning lidar apparatus 100 includes a laser unit 110, a first rotating unit 120, a position adjusting unit 130, a plate 140, and a second rotating unit 150.
  • the laser unit 110 oscillates and receives the laser signal to search for the surrounding space.
  • the laser unit 110 oscillates a laser signal in a position where the laser unit 110 is directed to a specific region of the surrounding space. Subsequently, the laser signal oscillated toward a specific region of the peripheral space is received by the laser unit 110 as a reflected laser signal after being reflected by an object or a terrain located in the specific region of the peripheral space.
  • a configuration for oscillation and light reception of the laser signal may be provided as a combination of an oscillation module and a light reception module. At least one combination configuration of the oscillation module and the light receiving module may be provided in the laser unit 110.
  • the combination configuration of the above-described oscillation module and the light receiving module is provided as a plurality of (110-1, 110-2, 110-3), the scanning lidar device 100 forms a measurement density of the surrounding space
  • the combination configuration 110-1, 110-2, 110-3 of the plurality of oscillation modules and the light receiving module is disposed in the laser unit 110 in a pattern that can improve the measurement density for each minimum time unit when executing the control to Can be.
  • the structure in which the combination configuration (110-1, 110-2, 110-3) of the plurality of oscillation module and the light receiving module is arranged in the laser unit 110 in a pattern that can improve the measurement density for each minimum time unit is Since it will be easy to describe the above-mentioned structure with reference to the drawings in more detail, the relevant parts will be described in detail in FIG.
  • the laser unit 110 directs a specific area of the surrounding space in which the scanning lidar device 100 is placed, and then repeats a search process using a laser signal. Move position.
  • the first rotating unit 120 supports the spatial position of the laser unit 110 and changes the spatial position of the laser unit 110 so that the laser unit 110 can direct each specific region of the surrounding space. Play a role.
  • the first rotating part 120 performs a function of rotating the laser part 110 in a plane coupled with the laser part 110 among the functions of changing the spatial position of the laser part 110. Allows 110 to change its location relative to the surrounding space.
  • the position adjusting unit 130 performs the function of vertically moving the laser unit 110 among the functions of changing the position in space of the laser unit 110, or changing the displacement including the vertical movement of the laser unit 110. Function can be performed.
  • the position adjusting unit 130 adjusts the angle between the first horizontal plane A on which the laser unit 110 and the first rotating unit 120 are positioned and the second horizontal plane B, which is a scanning reference plane.
  • the laser unit 110 and the first rotating unit 120 are formed in one block, and one side of the block including the laser unit 110 and the first rotating unit 120 is supported by the position adjusting unit 130 to adjust the position.
  • the block including the laser unit 110 and the first rotating unit 120 also moves in accordance with the position adjusting function of the unit 130.
  • the first horizontal plane A refers to a plane in which the block including the laser unit 110 and the first rotating unit 120 is supported by the position adjusting unit 130.
  • the second horizontal plane (B) as opposed to the first horizontal plane (A) is a scanning reference plane as described above, may be a position reference plane for the execution of the position adjustment function.
  • the second horizontal plane B may be placed in a horizontal direction with the horizontal plane when the scanning lidar device 100 is not mounted on the specific equipment.
  • the laser unit 110 that is rotated by the first rotating unit 120 is supported by the first horizontal plane A, but the plane rotated by the first rotating unit 120 is parallel to the first horizontal plane A. 1-1 becomes the horizontal plane (C).
  • the distance between the first horizontal plane (A) and the first-first horizontal plane (C) is based on forming a coupling relationship between the laser unit 110 and the first rotating unit 120, specifically, the laser unit 110 It may be formed by the width between the rotation center point of the first and the first horizontal plane (A).
  • the plate 140 is provided at a position in which the second horizontal plane B is a rotation axis or in contact with the second horizontal plane B, and supports one side of the first rotating part 120 and one side of the position adjusting part 130. .
  • supporting the first rotating unit 120 means that the laser unit 110 that is rotatably coupled with the first rotating unit 120 may also be supported.
  • the rotation of the plate 140 is performed by the second rotating part 150.
  • the second rotating unit 150 not only supports the spatial position of the plate 140, but also rotates the plate 140 using the second horizontal plane B as the rotation axis or rotates the plate 140 to the second horizontal plane B. As it rotates through the parallel axis, it is possible to rotate both the laser unit 110, the first rotating unit 120, and the position adjusting unit 130 supported by the plate 140.
  • FIG. 2 is a system block diagram for driving the scanning lidar apparatus of FIG. 1.
  • the system for driving the scanning lidar apparatus 100 includes a scanning lidar apparatus 100, which is a driving target, and a control module 200 for controlling driving of the scanning lidar apparatus 100. .
  • the control module 200 controls rotation of at least one of the first rotating unit 120 and the second rotating unit 150 included in the scanning lidar device 100, and drives the position adjusting unit 130.
  • the control module 200 may control the driving of the scanning lidar device 100 in various ways.
  • control module 200 may operate the scanning lidar device 100 based on communication with the scanning lidar device 100 while being connected to the scanning lidar device 100 by wire or wirelessly. Can be controlled.
  • the scanning lidar device 100 may be mounted on the mobile robot 400 as illustrated in FIG. 11.
  • the control module 200 for driving control of the scanning lidar device 100 is provided in the mobile robot 400, and the control module 200 is provided in the mobile robot 400.
  • the main controllers of the mobile robot 400 interoperate with each other, the movement of the mobile robot 400 based on the surrounding search may be executed.
  • the control module 200 for driving control of the scanning lidar device 100 may be provided as a main control device in the mobile robot 400. That is, the main control device of the mobile robot 400 directly scanning the advantages and features of the present invention, and how to achieve them will be apparent with reference to the embodiments described below in detail with the accompanying drawings.
  • the present invention is not limited to the embodiments disclosed below, but can be implemented in various different forms, and only the embodiments make the disclosure of the present invention complete, and the general knowledge in the art to which the present invention belongs. It is provided to fully inform the person having the scope of the invention, which is defined only by the scope of the claims.
  • Like reference numerals refer to like elements throughout.
  • FIG. 1 is a block diagram of a scanning lidar apparatus according to an embodiment of the present invention.
  • the scanning lidar apparatus 100 has a configuration for adjusting the measurement density so that blind spots that are not searched do not occur when searching around using a laser signal.
  • the blind spot that cannot be searched refers to a specific area that cannot search surrounding objects or terrain when the entire area around the scanning lidar device 100 is located, or the scanning lidar device
  • the target 100 targets some spaces to be searched in the surrounding space, it refers to a more specific area among the some spaces in which the surrounding object or the terrain cannot be searched.
  • the scanning lidar apparatus 100 includes a laser unit 110, a first rotating unit 120, a position adjusting unit 130, a plate 140, and a second rotating unit 150.
  • the laser unit 110 oscillates and receives the laser signal to search for the surrounding space.
  • the laser unit 110 oscillates a laser signal in a position where the laser unit 110 is directed to a specific region of the surrounding space. Subsequently, the laser signal oscillated toward a specific region of the peripheral space is received by the laser unit 110 as a reflected laser signal after being reflected by an object or a terrain located in the specific region of the peripheral space.
  • a configuration for oscillation and light reception of the laser signal may be provided as a combination of an oscillation module and a light reception module. At least one combination configuration of the oscillation module and the light receiving module may be provided in the laser unit 110.
  • the combination configuration of the above-described oscillation module and the light receiving module is provided as a plurality of (110-1, 110-2, 110-3), the scanning lidar device 100 forms a measurement density of the surrounding space
  • the combination configuration 110-1, 110-2, 110-3 of the plurality of oscillation modules and the light receiving module is disposed in the laser unit 110 in a pattern that can improve the measurement density for each minimum time unit when executing the control to Can be.
  • the structure in which the combination configuration (110-1, 110-2, 110-3) of the plurality of oscillation module and the light receiving module is arranged in the laser unit 110 in a pattern that can improve the measurement density for each minimum time unit is Since it will be easy to describe the above-mentioned structure with reference to the drawings in more detail, the relevant parts will be described in detail in FIG.
  • the laser unit 110 directs a specific area of the surrounding space in which the scanning lidar device 100 is placed, and then repeats a search process using a laser signal. Move position.
  • the first rotating unit 120 supports the spatial position of the laser unit 110 and changes the spatial position of the laser unit 110 so that the laser unit 110 can direct each specific region of the surrounding space. Play a role.
  • the first rotating part 120 performs a function of rotating the laser part 110 in a plane coupled with the laser part 110 among the functions of changing the spatial position of the laser part 110. Allows 110 to change its location relative to the surrounding space.
  • the position adjusting unit 130 performs the function of vertically moving the laser unit 110 among the functions of changing the position in space of the laser unit 110, or changing the displacement including the vertical movement of the laser unit 110. Function can be performed.
  • the position adjusting unit 130 adjusts the angle between the first horizontal plane A on which the laser unit 110 and the first rotating unit 120 are positioned and the second horizontal plane B, which is a scanning reference plane.
  • the laser unit 110 and the first rotating unit 120 are formed in one block, and one side of the block including the laser unit 110 and the first rotating unit 120 is supported by the position adjusting unit 130 to adjust the position.
  • the block including the laser unit 110 and the first rotating unit 120 also moves in accordance with the position adjusting function of the unit 130.
  • the first horizontal plane A refers to a plane in which the block including the laser unit 110 and the first rotating unit 120 is supported by the position adjusting unit 130.
  • the second horizontal plane (B) as opposed to the first horizontal plane (A) is a scanning reference plane as described above, may be a position reference plane for the execution of the position adjustment function.
  • the second horizontal plane B may be placed in a horizontal direction with the horizontal plane when the scanning lidar device 100 is not mounted on the specific equipment.
  • the laser unit 110 that is rotated by the first rotating unit 120 is supported by the first horizontal plane A, but the plane rotated by the first rotating unit 120 is parallel to the first horizontal plane A. 1-1 becomes the horizontal plane (C).
  • the distance between the first horizontal plane (A) and the first-first horizontal plane (C) is based on forming a coupling relationship between the laser unit 110 and the first rotating unit 120, specifically, the laser unit 110 It may be formed by the width between the rotation center point of the first and the first horizontal plane (A).
  • the plate 140 is provided at a position in which the second horizontal plane B is a rotation axis or in contact with the second horizontal plane B, and supports one side of the first rotating part 120 and one side of the position adjusting part 130. .
  • supporting the first rotating unit 120 means that the laser unit 110 that is rotatably coupled with the first rotating unit 120 may also be supported.
  • the rotation of the plate 140 is performed by the second rotating part 150.
  • the second rotating unit 150 not only supports the spatial position of the plate 140, but also rotates the plate 140 using the second horizontal plane B as the rotation axis or rotates the plate 140 to the second horizontal plane B. As it rotates through the parallel axis, it is possible to rotate both the laser unit 110, the first rotating unit 120, and the position adjusting unit 130 supported by the plate 140.
  • FIG. 2 is a system block diagram for driving the scanning lidar apparatus of FIG. 1.
  • the system for driving the scanning lidar apparatus 100 includes a scanning lidar apparatus 100, which is a driving target, and a control module 200 for controlling driving of the scanning lidar apparatus 100. .
  • the control module 200 controls rotation of at least one of the first rotating unit 120 and the second rotating unit 150 included in the scanning lidar device 100, and drives the position adjusting unit 130.
  • the control module 200 may control the driving of the scanning lidar device 100 in various ways.
  • control module 200 may operate the scanning lidar device 100 based on communication with the scanning lidar device 100 while being connected to the scanning lidar device 100 by wire or wirelessly. Can be controlled.
  • the scanning lidar device 100 may be mounted on the mobile robot 400 as illustrated in FIG. 11.
  • the control module 200 for driving control of the scanning lidar device 100 is provided in the mobile robot 400, and the control module 200 is provided in the mobile robot 400.
  • the main controllers of the mobile robot 400 interoperate with each other, the movement of the mobile robot 400 based on the surrounding search may be executed.
  • control module 200 for driving control of the scanning lidar device 100 may be provided as a main control device in the mobile robot 400. That is, the main controller of the mobile robot 400 may directly execute the movement of the mobile robot 400 based on the surrounding search through the structure connected to the scanning lidar device 100.
  • FIG. 3 is an overall configuration diagram showing the scanning lidar apparatus of FIG. 1 as a specific example.
  • the scanning lidar apparatus 100 rotates the laser unit 110 in a first horizontal plane A and a laser unit 110 for oscillating and receiving a laser signal toward a specific area of a surrounding space.
  • Rotating part 150 is included.
  • the laser unit 110 includes a combination configuration of at least one oscillation module and a light reception module for oscillation and reception of a laser signal.
  • the structure in which the combination of the at least one oscillation module and the light receiving module is arranged in the laser unit 110 is the minimum time unit when the scanning lidar apparatus 100 executes the control for forming the measurement density for the surrounding space. It can be arranged in a pattern that can improve the star measurement density.
  • the combination of the at least one oscillation module and the light receiving module may be provided in the laser unit 110 in a structure arranged along the same axis as the first-first horizontal plane C.
  • FIG. Through such an arrangement structure of the oscillation module and the light receiving module, there is an advantage suitable for adjusting the scan width when performing a scan that rotates once in an axis perpendicular to the second horizontal plane (B).
  • the second horizontal plane B through the laser unit 110 having the above-described arrangement structure.
  • the scan width increases when a scan is rotated once on an axis perpendicular to the cross-section.
  • the first rotating part 120 includes a motor 120-1 for rotating the laser part 110.
  • the motor 120-1 includes a stator and a rotor.
  • a stator is provided inside and a rotor is provided outside. .
  • the first rotating unit 120 not only has the configuration of rotating the laser unit 110, but also receives a signal of the scan result from the laser unit 110 and transmits the signal to the control unit, and controls the driving of the laser unit 110 It is necessary to have a structure for receiving a control signal to be transmitted from the control unit to the laser unit 110.
  • the motor 120-1 provided in the first rotating part 120 is a hollow motor, and the stator may be provided in a hollow shape.
  • the rotation driving force generated by the rotation of the rotor of the first rotating part 120 is rotated. It is transmitted to the laser unit 110 via the (120-2).
  • Position adjusting unit 130 has a structure for adjusting the angle of the first horizontal plane (A) and the second horizontal plane (B).
  • the angle of the first horizontal plane (A) with respect to the second horizontal plane (B) can be adjusted by changing the shape of the structure combining the hinge and the frame.
  • the second rotating unit 150 is configured to rotate the plate 140 as well as to rotate the plate 140, as well as the control signal for driving the laser unit 110 via the first rotating unit 120 laser It is necessary to further provide a structure for transmitting to the unit 110 or receiving a signal of a scan result from the laser unit 110.
  • the motor 150-1 provided in the second rotating unit 150 is a hollow motor, and the stator has a hollow shape and needs to have a space in which a communication line for communication of the aforementioned signals can be located.
  • FIG. 4 is a partial configuration diagram showing an angle adjustment configuration as an example of the position adjustment unit of FIG. 1.
  • the first horizontal plane A supporting the laser unit 110 and the first rotating unit 120 and the second horizontal plane B serving as a scanning reference plane share one side.
  • the plane angle ⁇ 'intersecting the first horizontal plane A and the second horizontal plane B may be adjusted.
  • FIG. 5 is a partial configuration diagram showing another example of the angle adjustment configuration of the position adjustment unit of FIG.
  • the position adjusting unit 130 shares at least one point between the first horizontal plane A supporting the laser unit 110 and the first rotating unit 120 and the second horizontal plane B serving as a scanning reference plane.
  • the position change amount of the first horizontal plane A with respect to the second horizontal plane B, which is a scanning reference plane can be adjusted.
  • the position adjusting unit 130 in a state in which a plurality of structures coupled to the plurality of hinges and the frame is disposed between the first rotating unit 120 and the plate 140, the second horizontal surface in a manner of changing the shape of each structure It is possible to adjust the position change amount of the first horizontal plane A with respect to (B).
  • FIG. 6 is an exemplary view illustrating a state in which the position adjusting unit of FIG. 3 is adjusted at a first angle
  • FIG. 7 is an exemplary view illustrating a simplified trajectory of measurement density according to the apparatus state of FIG. 6.
  • the combination of the oscillation module and the light receiving module in the laser unit 110 includes a first-second horizontal plane D and a first-horizontal plane E parallel to the first horizontal plane A.
  • FIG. And the first to fourth horizontal planes (F).
  • the first horizontal plane A which is a plane that supports the block including the laser unit 110 and the first rotating unit 120 in this state
  • the second horizontal plane B which is the scanning reference plane.
  • the rotational driving of the second rotating unit 150 is performed at a position adjusted at an 'L' angle to perform a scan that rotates once in an axis perpendicular to the second horizontal plane B, as shown in FIG. 7. Scan widths can be formed.
  • FIG. 8 is an exemplary view illustrating a state in which the position adjusting unit of FIG. 3 is adjusted at a second angle
  • FIG. 9 is an exemplary view illustrating a simplified trajectory of measurement density according to the apparatus state of FIG. 8.
  • the combination of the oscillation module and the light receiving module in the laser unit 110 includes a first horizontal plane D and a first horizontal plane E, which are parallel to the first horizontal plane A.
  • different angles may be formed unlike the above-described example.
  • the first horizontal plane A which is a plane that supports the block including the laser unit 110 and the first rotating unit 120
  • the second horizontal plane B which is a scanning reference plane
  • Scanning as shown in FIG. 9 when a rotational driving of the second rotating unit 150 is executed in a state where it is positioned at an 'l' angle to perform a scan that rotates once in an axis perpendicular to the second horizontal plane B Width can be formed.
  • the scan width of FIG. 9 is narrower than the scan width of FIG. 7.
  • FIG. 10 is a block diagram of a scanning lidar apparatus according to another embodiment of the present invention.
  • the scanning lidar apparatus 300 includes a laser unit 310 for oscillating and receiving a laser signal toward a specific region of a peripheral space, and a first rotating unit for rotating the laser unit on a first horizontal plane A ( 320, the position adjusting unit 330 and the second horizontal plane B for adjusting the angle between the first horizontal plane A on which the laser unit 310 and the first rotating unit 320 are positioned, and the second horizontal plane B, which is a scanning reference plane.
  • a plate 340 for supporting one side of the first rotating unit 320 and one side of the position adjusting unit 330 and the second rotating unit 350 for rotating the plate 340 in the second horizontal plane B; Including, but may further include a control unit 360 for controlling the rotation of at least one of the first and second rotating unit 320 and 350 and the position control unit 330.
  • FIG. 12 is a flowchart illustrating a process of operating a scanning lidar apparatus of the present invention.
  • the scanning lidar apparatus 300 may be executed to set scanning settings directed to a specific area of the surrounding space (S1), and in this scanning setting, the laser signal may be directed to a specific area of the surrounding space. It is possible to adjust the angle of the first horizontal plane and the second horizontal plane which is the scanning reference plane corresponding to the rotational direction of the laser unit 310 for oscillating and receiving (S3).
  • the angle adjusting step may include adjusting a plane angle intersecting the first horizontal plane and the second horizontal plane when the first horizontal plane and the second horizontal plane are in contact with one side, and the first horizontal plane and the second horizontal plane. If the at least one point is in contact with each other, the method may include adjusting a position change amount of the first horizontal plane and the second horizontal plane.
  • the plate 340 supports the first rotating part 320 for rotating the laser part 310 in the first horizontal plane, and the position adjusting part 330 having an angle adjustment configuration with the first rotating part 320 in the second horizontal plane.
  • Control at least one of the second rotation unit 350 to rotate (S5).
  • step S7 At least one of the first rotating part 320 and the second rotating part 350 is driven to rotate according to the control of step S5 (S7).
  • the scanning lidar apparatus 300 may store the peripheral scanning results through the execution of the above-described steps (S9), and the measuring position where the scanning lidar apparatus 300 is directed toward the peripheral space based on the stored peripheral scanning results. And calculating the measurement density (S11), and using the calculated measurement position and the measurement density, the scanning blind spot may be determined from the surrounding area (S13).
  • the scanning lidar apparatus 300 adjusts the angle of the position adjusting unit 330 so that the scanning blind spot is included in the scanning target area, and the first rotating unit 320 And driving control of at least one of the second rotation parts 350 (S15).
  • step S13 it is determined whether or not to continue the scanning lidar apparatus 300 according to the user selection of whether to continue scanning (S17).
  • the present invention is to provide a scanning lidar apparatus and a method applied thereto to adjust the measurement density so that blind spots that are not searched when searching the surroundings using a laser signal does not occur, It is an invention with industrial applicability, since the possibility of business is not only sufficient but also practically obvious.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un appareil lidar à balayage. L'appareil lidar à balayage selon la présente invention comprend : une unité laser pour faire osciller un signal laser vers une zone spécifique dans un espace environnant et recevoir le signal laser ; une première unité de rotation pour faire tourner l'unité laser sur une première surface horizontale ; une unité de réglage de position pour régler un angle entre la première surface horizontale sur laquelle l'unité laser et la première unité de rotation sont positionnés et une seconde surface horizontale qui est une surface de référence de balayage ; une plaque pour former la seconde surface horizontale, et portant un côté de la première unité de rotation et un côté de l'unité de réglage de position ; et une seconde unité de rotation pour faire tourner la plaque sur la seconde surface horizontale.
PCT/KR2015/009129 2015-01-05 2015-08-31 Appareil lidar à balayage et procédé appliqué à celui-ci WO2016111437A1 (fr)

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CN110568423A (zh) * 2019-09-10 2019-12-13 广州文远知行科技有限公司 激光雷达角度标定方法、装置、终端设备及存储介质
CN112268208A (zh) * 2020-10-19 2021-01-26 北京一数科技有限公司 一种安装座、调节保护装置及激光雷达装置

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KR101877388B1 (ko) * 2016-07-21 2018-07-11 엘지전자 주식회사 차량용 라이다 장치
KR101997095B1 (ko) 2016-07-22 2019-07-08 전자부품연구원 수평 분해능 및 영상획득 프레임이 제어되는 스캐닝 라이다
KR102135559B1 (ko) * 2018-05-16 2020-07-20 주식회사 유진로봇 초소형 3차원 스캐닝 라이다 센서
KR102178376B1 (ko) 2017-11-23 2020-11-13 한국전자기술연구원 전방위 무회전 스캐닝 라이다 시스템
KR102297256B1 (ko) * 2019-09-30 2021-09-03 알엠스 주식회사 라이다 3차원 스캐닝 장치
KR102289878B1 (ko) * 2019-11-27 2021-08-13 국방과학연구소 단일 레이저 빔을 이용한 3차원 스캐닝 수중 라이다 장치 및 그 제어 방법, 컴퓨터 판독 가능한 기록 매체 및 컴퓨터 프로그램
KR200494702Y1 (ko) * 2020-01-15 2021-12-06 주식회사 스트리스 전신주 부착형 라이다 브라켓 장치
KR102592158B1 (ko) 2021-08-10 2023-10-19 조선대학교산학협력단 라이다 스캐닝 시스템
KR102574710B1 (ko) * 2021-12-08 2023-09-06 김동민 레이저 모듈 어셈블리

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CN110568423A (zh) * 2019-09-10 2019-12-13 广州文远知行科技有限公司 激光雷达角度标定方法、装置、终端设备及存储介质
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CN112268208A (zh) * 2020-10-19 2021-01-26 北京一数科技有限公司 一种安装座、调节保护装置及激光雷达装置

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