KR960035060A - 3D visual recognition device using laser - Google Patents

3D visual recognition device using laser Download PDF

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Publication number
KR960035060A
KR960035060A KR1019950005691A KR19950005691A KR960035060A KR 960035060 A KR960035060 A KR 960035060A KR 1019950005691 A KR1019950005691 A KR 1019950005691A KR 19950005691 A KR19950005691 A KR 19950005691A KR 960035060 A KR960035060 A KR 960035060A
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KR
South Korea
Prior art keywords
laser
recognition device
visual recognition
reflected
space
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KR1019950005691A
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Korean (ko)
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KR0142605B1 (en
Inventor
조형석
정인수
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심상철
한국과학기술원
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Priority to KR1019950005691A priority Critical patent/KR0142605B1/en
Publication of KR960035060A publication Critical patent/KR960035060A/en
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Publication of KR0142605B1 publication Critical patent/KR0142605B1/en

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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
    • 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
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • 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
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

본 발명은 레이저를 이용한 3차원 시각인식장치에 관한 것이다. 좀더 구체적으로, 본 발명은 측정하고자 하는 공간에 레이저를 방출하여 공간의 3차원적인 분포를 최소한의 오차를 발생하면서 단시간에 측정할 수 있는 3차원 시각인식장치에 관한 것이다. 본 발명의 3차원 시각인식장치는 레이저(23)를 방출하기 위한 레이저 방출기(21), 전기한 레이저 방출기(21)에서 방출된 레이저(23)를 반사시켜 외부공간으로 방사시키기 위한 반사경(22), 전기한 반사경(22)에 의해 반사된 레이저(23)의 수평방향을 조절하기 위한 수평방향 제어부(27) 및 전기한 반사경(22)에서 반사된 레이저(23)의 수직방향을 제어하기 위한 수직방향 제어부(28)로 구성하며 3차원 레이저광면을 외부로 방사하기 위한 수직방향 제어부(28)로 구성되며 3차원 레이저광면을 외부로 방사하기 위한 레이저광면 방사부; 및, 외부광간에서 반사된 레이저(23)를 수광하여 한 점으로 집광시키기 위한 원뿔면경(25) 및 전기한 원뿔면경(25)에 의해 집광된 레이저(23)를 감지하기 위한 감지기(26)로 구성된 검출부를 포함한다. 본 발명의 3차원 시각인식장치는 공간의 3차원적 분포에 대한 측정속도가 빠르고, 측정가능한 영역이 넓으면서도 소스와 센서간의 기하학적 검정이 수월하여 정시에 발생하는 오차를 최소화할 수 있는 등의 효과를 지니고 있다.The present invention relates to a three-dimensional visual recognition device using a laser. More specifically, the present invention relates to a three-dimensional visual recognition device that can measure the three-dimensional distribution of the space in a short time by generating a minimum error by emitting a laser in the space to be measured. The three-dimensional visual recognition device of the present invention reflects a laser emitter 21 for emitting a laser 23, a reflector 22 for reflecting the laser 23 emitted from the laser emitter 21 to radiate to an external space. , The horizontal direction control unit 27 for adjusting the horizontal direction of the laser 23 reflected by the reflecting mirror 22 and the vertical direction for controlling the vertical direction of the laser 23 reflected by the reflecting mirror 22. A laser light plane radiating unit configured as a direction control unit 28 and configured as a vertical direction control unit 28 for radiating the 3D laser light plane to the outside; And a detector 26 for detecting the laser 23 focused by the conical mirror 25 and the conical mirror 25 for receiving the laser 23 reflected from the external light and condensing it at a single point. It comprises a configured detection unit. The three-dimensional visual recognition device of the present invention has a high measurement speed with respect to the three-dimensional distribution of space, and the measurement area is large, but the geometric test between the source and the sensor is easy, thereby minimizing errors occurring on time. It has

Description

레이저를 이용한 3차원 시각인식장치3D visual recognition device using laser

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 레이저와 센서의 기하학적 관계로부터 거리를 구하는데 사용되는 삼각측정법의 기본원리를 설명하기 위한 개념도이다. 제2도는 본 발명의 3차원 시각인식장치에 대한 일 실시예를 나타낸 구성도이다. 제3(가)도 및 제3(나)도는 본 발명의 3차원 시각인식장치에 의한 수평방향의 공간측정과정을 나타낸 개략도이다. 제4도는 본 발명의 3차원 시각인식장치에 의한 수직방향의 공간측정과정을 나타낸 개략도이다. 제5(가)도 및 제5(나)도는 본 발명의 3차원 시각인식장치의 레이저광면 방사부에 대한 또 다른 실시예를 나타낸 구성도이다.1 is a conceptual diagram for explaining the basic principle of triangulation used to find the distance from the geometric relationship between the laser and the sensor. 2 is a block diagram showing an embodiment of a three-dimensional visual recognition device of the present invention. 3 (a) and 3 (b) are schematic diagrams showing a spatial measurement process in a horizontal direction by the three-dimensional visual recognition apparatus of the present invention. 4 is a schematic diagram showing a spatial measurement process in the vertical direction by the three-dimensional visual recognition device of the present invention. 5 (a) and 5 (b) are diagrams showing still another embodiment of the laser beam surface radiating part of the three-dimensional visual recognition device of the present invention.

Claims (3)

레이저(23)를 방출하기 위한 레이저 방출기(21), 전기한 레이저 방출기(21)에서 방출된 레이저(23)를 반사시켜 외부공간으로 방사시키기 위한 반사경(22), 전기한 반사경(22)에 의해 반사된 레이저(23)의 수평방향을 조절하기 위한 수평방향 제어부(27) 및 전기한 반사경(22)에서 반사된 레이저(23)의 수직방향을 제어하기 위한 수직방향 제어부(28)로 구성되며 3차원 레이저광면을 외부로 방사하기 위한 레이저광면 방사부; 및, 외부공간에서 반사된 레이저(23)를 수광하여 한 점으로 집광시키기 위한 원뿔면경(25) 및 전기한 원뿔면경(25)에 의해 집광된 레이저(23)를 감지하기 위한 감지기(26)로 구성된 검출부를 포함하는 3차원 시각인식장치.By the laser emitter 21 for emitting the laser 23, the reflector 22 for reflecting and radiating the laser 23 emitted from the laser emitter 21 to the outside space, the reflector 22 It consists of a horizontal direction control unit 27 for adjusting the horizontal direction of the reflected laser 23 and a vertical direction control unit 28 for controlling the vertical direction of the laser 23 reflected from the reflecting mirror 22, 3 A laser beam plane radiating unit for radiating the dimensional laser beam to the outside; And a sensor 26 for detecting the laser 23 focused by the conical mirror 25 and the electric conical mirror 25 for receiving and condensing the laser 23 reflected from an external space into a single point. 3D visual recognition device comprising a configured detection unit. 제1항에 있어서, 레이저광면 방사부는 원뿔형 반사경(52) 및 원뿔형 레이저 방출기(51)로 구성된 것을 특징으로 하는 3차원 시각인식장치.The three-dimensional visual recognition device according to claim 1, wherein the laser beam emitting portion is composed of a conical reflector (52) and a conical laser emitter (51). 제1항에 있어서, 레이저광면 방사부는 반사경(55), 수평방향 제어부(56), 레이저 방출기(53) 및 레이저 방출기 구동수단(54)으로 구성된 것을 특징으로 하는 3차원 시각인식장치.The three-dimensional visual recognition device according to claim 1, wherein the laser beam emitting part comprises a reflector (55), a horizontal control section (56), a laser emitter (53), and a laser emitter driving means (54). ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019950005691A 1995-03-18 1995-03-18 Three dimensional vision recognition apparatus using laser KR0142605B1 (en)

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KR1019950005691A KR0142605B1 (en) 1995-03-18 1995-03-18 Three dimensional vision recognition apparatus using laser

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KR960035060A true KR960035060A (en) 1996-10-24
KR0142605B1 KR0142605B1 (en) 1998-08-17

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CN105866790B (en) * 2016-04-07 2018-08-10 重庆大学 A kind of laser radar obstacle recognition method and system considering lasing intensity

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