WO2019031701A1 - Système lidar multiple et procédé de pilotage associé - Google Patents

Système lidar multiple et procédé de pilotage associé Download PDF

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Publication number
WO2019031701A1
WO2019031701A1 PCT/KR2018/006796 KR2018006796W WO2019031701A1 WO 2019031701 A1 WO2019031701 A1 WO 2019031701A1 KR 2018006796 W KR2018006796 W KR 2018006796W WO 2019031701 A1 WO2019031701 A1 WO 2019031701A1
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Prior art keywords
laser beam
communication code
matching
laser
communication
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PCT/KR2018/006796
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English (en)
Korean (ko)
Inventor
이성길
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(주)에어로스타에스지
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Publication date
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Publication of WO2019031701A1 publication Critical patent/WO2019031701A1/fr

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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
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • 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
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar

Definitions

  • the present invention relates to a communication and control measuring technique. More particularly, the present invention relates to a communication and control measuring technique, in particular, a 3D modeling extraction and a distance measurement using a laser beam, a laser beam is injected at a position to be measured, A multi-ladder system for scanning distances and features, and a method of driving the same.
  • LIGHT DETECTION AND RANGING (LiDAR) devices utilize light with a very narrow wavelength, and are generally testable because there is no other laser interference during the test of one of the Lada test equipment.
  • the lidar device is a device that measures the distance, atmospheric phenomenon, etc., by using a reflector or scatterer to emit pulsed laser light into the atmosphere and is sometimes referred to as a laser or a radar.
  • the time measurement of reflected light is calculated as a clock pulse, and its resolution is 5 m at a frequency of 30 MHz and 1 m resolution at 150 MHz. It is a ruby laser device that generates a strong infrared pulse with a small beam width of about 30 seconds at an angle.
  • the ruby laser which is a solid-state laser
  • the YAG laser (1.06 ⁇ m) is used as a laser
  • a radar is used for a long distance of up to 20km. Reflection of beam, scattering effect of cloud or smog layer, and discontinuity of atmosphere are measured by radar technique. It is also used for tracing weather equipment, smog puffs, and rocket tracing. The distance to the moon is measured with a precision of 30 cm (equivalent to 10 -9 )
  • the improved prior art system can diversify the wavelength of the laser to emit various wavelengths of laser, but it is possible to identify the wavelength of the detector and to increase the wavelength sensitivity of the light- There is also a problem that a large number of high-performance detectors are required and installation cost and technical limitations are incurred.
  • the wavelength of the laser is about 500 to 1500 ⁇ m, and even if the wavelength is designed differently, the channel isolation for use as a solution for the autonomous vehicle or the surveillance and reconnaissance has a difficult problem. Even if divided into a maximum of 1000 channels can be divided into two wavelengths may come out.)
  • a first aspect of the present invention is to provide a multi-ladder system and a method of driving the multi-ladder system according to the present invention,
  • the first and second laser beams are respectively emitted, the first and second laser beams are compared with each other to determine whether they match the corresponding communication code belonging to the wavelength band of the laser beam to be received, Since the communication codes are assigned differently even if the multiple lidar systems are operated simultaneously, by confirming the object recognition information or the human recognition information collected by the beam in real time, it is possible to secure the sensor recognition capability of the multiple equipment, So as to minimize the collision.
  • a second object of the present invention is to provide a method and apparatus for controlling a plurality of laser beams, which are mounted on an autonomous driving vehicle, a surveillance and reconnaissance system, an indoor golf driving system, and the like, This is for collecting the information of the object or the information of the person who wants to receive it selectively and simultaneously.
  • a third object of the present invention is to provide a laser apparatus capable of selectively receiving a selected laser beam to be received even when a plurality of laser beams having different codes are emitted in multiple directions upon entry of an enemy, To protect the national life and national security and the national defense based on national security and the national defense in order to contribute to the protection of the country. to be.
  • the present invention includes the following configuration.
  • a multiple ladder system is a first ladder module that emits a first laser beam having a first communication code in a first wavelength band to illuminate an object or a person in a circle-short distance.
  • a second Lada module for emitting a second laser beam containing a second communication code in a second wavelength band to illuminate the object or person in a near vicinity, wherein the first Lada module comprises: Or after receiving the second laser beam, it is compared with the first communication code belonging to the first laser beam or the second communication code belonging to the second laser beam, Wherein the first laser beam includes a first communication code corresponding to the first communication code for matching, and identifies and extracts only the first laser beam including the first communication code corresponding to the first communication code for matching, And the second Lada module displays the object recognition information or the human recognition information on the screen by scanning the first laser beam or the second laser beam, And determines whether or not the first communication code belonging to the first laser beam or the second communication code belonging to the second laser beam is the
  • the driving method of the multiple ladder system is characterized in that the first RI module emits a first laser beam containing a first communication code in a first wavelength band, ; And a second Lada module emitting a second laser beam containing a second communication code in a second wavelength band to illuminate the object or person in a near vicinity, After receiving the laser beam or the second laser beam, whether or not the first communication code belonging to the first laser beam or the second communication code belonging to the second laser beam is the same as the first communication code for matching already already held therein ; The first Lada module identifies and extracts only a first laser beam including a first communication code that matches the first communication code for matching, and outputs a first image detection signal collected via the first laser beam A step of displaying the object recognition information or the human recognition information on a screen in real time by scanning the object on a screen; Wherein the second Lidamodule receives the first laser beam or the second laser beam and then determines whether the first communication code belonging to the first
  • the multi-ladder system and the driving method thereof according to the present invention are characterized in that when first and second laser beams emitting first and second communication codes are emitted respectively at first and second wavelength bands, By comparing and comparing the correspondence of the communication code belonging to the wavelength band of the laser beam and recognizing the object information or the human recognition information collected by the selected laser beam to be received, Since the communication codes are assigned differently even if the system is operated at the same time, it has the first effect of suppressing the interference phenomenon or the noise phenomenon that may be caused by the collision due to the signal overlap between the laser beams to the utmost.
  • the present invention can be applied to an automatic driving vehicle, a surveillance and reconnaissance system, an indoor golf driving system, and the like, so that the user can receive his / her light through multi-channel operation without signal collision between a plurality of laser beams emitted for object recognition or human recognition It provides a second effect that collects object-related information or human-related information simultaneously in a selective manner.
  • the present invention can be used for military purposes, so that even when a plurality of laser beams having different codes are separately emitted in multiple directions at the time of enemy intrusion, a selected laser beam to be received can be selectively received, It is possible to decode without having to miss the various routes of travel. Therefore, the third effect is that the industrial development and national defense based on the national life and national security are safely protected from the danger of national life threat and national existence. .
  • FIG. 1 is a diagram illustrating a multiple ladder system according to an embodiment of the present invention.
  • FIG. 2 is another diagram illustrating a multiple ladder system in accordance with an embodiment of the present invention.
  • FIG. 3 is another diagram illustrating a multiple ladder system in accordance with an embodiment of the present invention.
  • FIG. 4 is a diagram illustrating a multiple ladder system according to another embodiment of the present invention.
  • FIG. 5 is a flowchart illustrating a method of driving a multiple ladder system according to an embodiment of the present invention.
  • FIG. 1 is a diagram illustrating a multiple ladder system according to an embodiment of the present invention.
  • a multi-ladder system 1000 includes a first and a second laser beam, and simultaneously extracts a 3D modeling beam and simultaneously irradiates an object or person 300 to perceive and measure the first and second laser beams, And the first and second image detection signals are returned to the first and second image detection signals for each angle, and the first and second image detection signals are analyzed and displayed, It is a system that accurately identifies only a laser beam of which the laser beam itself is to be received, and clearly displays object information or human perception information extracted from the laser beam.
  • the present invention is applicable to a first communication with a digital value of a machine specific code (ex: 11111110) in different set wavelength bands (or a selected one of a plurality of channels) Code, a second communication code having a digital value of 10001010), then selecting only one of the first and second communication codes sent out, and selecting and converging only the radar beam including the selected one of the first and second communication codes Is a system 1000.
  • a machine specific code ex: 1111111010
  • the multiple ladder system 1000 includes a first light emitting unit 110, a first light receiving unit 120, A first Lada module 100 including a first comparison matching unit 130 and a first image processing unit 140 and a second Lada light emitting unit 210, a second Lada light receiving unit 220, A matching comparison determination unit 230, a first image processing unit 240, a second Lather module 200, and an operation management unit 400.
  • the first Rowa module 100 emits a first laser beam having a first communication code in a first wavelength band to irradiate an object or person 300 in a circle-near direction.
  • the first lidar module 100 receives the first laser beam or the second laser beam and then transmits the first communication code belonging to the first laser beam or the second communication code belonging to the second laser beam, The first communication code is compared with the first communication code.
  • the light emitting unit 110 emits a first laser beam having a first communication code in a first wavelength band to emit a first laser beam in a first wavelength band, Or the person (300).
  • the first light receiving unit 120 receives the first laser beam or the second laser beam.
  • the first matching comparison determination unit 130 of the first Rowa module 100 determines whether the first communication code belonging to the first laser beam transmitted from the first light receiving unit 120 or the second communication code belonging to the second laser beam It is determined whether or not the first communication code for matching is the same as the first communication code already stored in the code, and only the first laser beam including the first communication code matching the first communication code for matching is identified and extracted.
  • the first image processing unit 140 of the first Rowa module 100 receives the first laser beam including the first communication code identified and extracted by the first matching determination unit 130, The first image detection signal collected by the irradiation operation is scanned in real time on the first screen unit to display the object recognition information or the human recognition information on the first screen unit.
  • the second Lada module 200 emits a second laser beam having a second communication code in a second wavelength band to illuminate the object or person 300 within a near range.
  • the second Lidar module 200 receives the first laser beam or the second laser beam and then transmits the first communication code belonging to the first laser beam or the second communication code belonging to the second laser beam, It is determined whether or not the second communication code is the same as the second communication code.
  • the second Lada module 200 identifies and extracts only the second laser beam including the second communication code corresponding to the second communication code for matching and outputs the second image detection signal collected via the second laser beam 2 It scans in real time on the screen and displays object or person information on the screen.
  • the light emitting unit 210 emits a second laser beam having a second communication code in a second wavelength band to emit a second laser beam, Or the person (300).
  • the second light receiving unit 220 receives the first laser beam or the second laser beam.
  • the second matching comparison determination unit 230 of the second Lada module 200 receives the first communication code belonging to the first laser beam or the second communication code belonging to the second laser beam transmitted from the second receiving unit 220, The second communication code is compared with the second communication code for matching which is already held in the code, and only the second laser beam including the second communication code matching the second communication code for matching is identified and extracted.
  • the second image processing unit 240 of the second Lada module 200 receives the second laser beam including the second communication code identified and extracted by the second matching determination unit 230, The second image detection signal collected by the irradiation operation is scanned in real time on the second screen unit to display the object recognition information or the human recognition information on the second screen unit.
  • the first and second radar beam generators provided respectively in the first and second light emitting units 100 and 200 may receive the first and second radar beams from the selected one of the 5 to 15 GHz, 20 to 40 GHz, and 70 to 100 GHz frequency bands, 2 radar beam.
  • any one of the first and second wavelength bands is used in a range of 100um to 2000um, and the first and second communication codes are generated as digital values within 8 bits to 1 Gbyte.
  • the first RL light receiving unit 100 receives all the first and second laser beams through the first laser beam detecting sensor and the second RL light receiving unit 200 includes a second laser beam detecting sensor It should be noted that all of the first and second laser beams are received.
  • the operation and management unit 400 includes at least one of an object, a moving object, and a moving object including at least one of image information, position information, Based on the cognitive information or human cognitive information, the robot predicts and tracks the future movement path, and displays the current coordinate values recognized from the movement path and the position information on the first and second screen portions.
  • the operation unit included in the operation and management unit 400 calculates and extracts current coordinate values from the position information and calculates and extracts the moving speed value and the moving direction of the object or person 300 currently moving on the basis of the moving speed information.
  • the operation and management unit 400 zooms in or out of the image information about the object or person 300 to precisely capture the object or the shape of the person 300 in the near or near range.
  • the multiple ladder system 1000 is not limited to being constructed of only the first and second laser modules 100 and 200 that emit or receive laser beams 1 and 2, 1 to N light emitting or receiving light modules can be installed and operated according to the needs of a person skilled in the art and designers.
  • N light emitting unit
  • N-th light receiving unit 510
  • N-th image processing unit 540 The first Lada module 500 including the Nth matching comparison determination unit 520 and the Nth matching comparison determination unit 530 and the Nth image processing unit 540 is easy to use anytime anywhere. Will.
  • FIG. 5 is a flowchart illustrating a method of driving a multiple ladder system according to an embodiment of the present invention.
  • a driving method of a multi-ladder system is a first RI.
  • the module emits a first laser beam having a first communication code in a first wavelength range to irradiate a person or a person in a circle-near direction S100).
  • the second Lada module emits a second laser beam having the second communication code in the second wavelength band to examine the object or person in a near vicinity (S110).
  • the first ladder module receives the first laser beam or the second laser beam and then transmits the first communication code belonging to the first laser beam or the second communication code belonging to the second laser beam, And compares the communication code with the communication code (S120).
  • the first Lada module identifies and extracts only the first laser beam including the first communication code corresponding to the first communication code for matching and outputs the first image detection signal collected through the first laser beam to the first screen part, And displays object information or human information on the screen (S130).
  • the second Lada module receives the first laser beam or the second laser beam and then transmits the second communication code belonging to the first laser beam or the second communication code belonging to the second laser beam, It is determined whether or not it is the same as the communication code (S140).
  • the second Lada module identifies and extracts only the second laser beam including the second communication code that matches the second communication code for matching and outputs the second image detection signal collected via the second laser beam to the second screen part To display object information or human information on the screen (S150).
  • the operation management unit may determine whether the object is moving or not based on the object recognition information or the human recognition information including at least one of the image information, the position information, And displays a current coordinate value grasped from the movement path and the position information on the first and second screen portions.
  • the operation unit provided in the operation management unit calculates and extracts the current coordinate value from the position information, and calculates and extracts the moving speed value and the moving direction of the object or person currently moving from the moving speed information.
  • the operation management unit zooms in or out of the image information about an object or a person to precisely capture the object or the shape of the person at a close distance or at a medium distance.
  • the driving method of the multiple ladder system according to another embodiment of the present invention is not limited to the construction of the first and second laser modules that emit or receive the laser beams 1 and 2, 1 to N number of Raida modules can be installed and operated according to the needs of a person skilled in the art and designers.
  • the present invention has the feature of the present invention which can selectively receive only the selected laser beam emitted by the laser beam, so that the construction of the multi-line system composed of N Rada modules will be easy to use anytime anywhere.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

La présente invention concerne une technologie de mesure de communication et de commande. À savoir, un système LiDAR multiple et un procédé de pilotage de celui-ci, selon les modes de réalisation de la présente invention, effectuent une extraction de modélisation 3D en utilisant des premier et deuxième faisceaux laser et injecter simultanément les premier et deuxième faisceaux laser sur des objets ou des personnes devant être perçus et mesurés de façon à analyser et à afficher des premier et deuxième signaux de détection d'image renvoyés à chaque angle, où seul le faisceau laser, que le système doit recevoir, parmi le premier faisceau laser comprenant un premier code de communication et le deuxième faisceau laser comprenant un deuxième code de communication, tous deux ayant déjà été émis, est identifié avec précision par l'intermédiaire d'un processus de comparaison et de mise en correspondance de code de communication, et des informations de reconnaissance d'objet ou des informations de reconnaissance d'humain extraites de celles-ci sont affichées en clair, de manière à supprimer de façon maximale un phénomène d'interférence ou un phénomène de bruit qui peut être causé par une collision due à un chevauchement de signal entre les faisceaux laser respectifs étant donné que des codes de communication sont attribués différemment même si des systèmes LiDAR multiples sont actionnés simultanément.
PCT/KR2018/006796 2017-08-08 2018-06-15 Système lidar multiple et procédé de pilotage associé WO2019031701A1 (fr)

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KR10-2017-0100188 2017-08-08
KR1020170100188A KR101834124B1 (ko) 2017-08-08 2017-08-08 다중 라이다 시스템 및 그 구동방법

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
WO2021003201A1 (fr) * 2019-07-02 2021-01-07 Waymo Llc Communication par lidar
CN112470035A (zh) * 2018-12-06 2021-03-09 松下知识产权经营株式会社 距离信息取得装置、距离信息取得方法及程序

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KR102113006B1 (ko) 2018-11-27 2020-05-21 한국생산기술연구원 가공 시작점 자동 인식 장치
KR102112999B1 (ko) 2018-11-29 2020-05-21 한국생산기술연구원 가공 시작점 자동 인식 방법
CN110103810B (zh) * 2019-01-03 2024-02-27 华域视觉科技(上海)有限公司 三维探测照明系统及汽车
KR102301184B1 (ko) * 2019-12-06 2021-09-10 한국철도기술연구원 단계적 정보 표현이 가능한 다중 광원 주사 및 검출을 이용한 고속 상대위치 측정방법
KR102301182B1 (ko) * 2019-12-06 2021-09-10 한국철도기술연구원 다중 광원 주사 및 검출을 이용한 고속 상대위치 측정법
KR20230113475A (ko) 2022-01-21 2023-07-31 금오공과대학교 산학협력단 초해상화와 반사강도를 이용한 3차원 라이다 장애물 탐지시스템

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112470035A (zh) * 2018-12-06 2021-03-09 松下知识产权经营株式会社 距离信息取得装置、距离信息取得方法及程序
WO2021003201A1 (fr) * 2019-07-02 2021-01-07 Waymo Llc Communication par lidar
US11153010B2 (en) 2019-07-02 2021-10-19 Waymo Llc Lidar based communication
US11616573B2 (en) 2019-07-02 2023-03-28 Waymo Llc Lidar based communication

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