WO2016111437A1 - Scanning lidar apparatus and method applied thereto - Google Patents

Scanning lidar apparatus and method applied thereto 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
Other languages
French (fr)
Korean (ko)
Inventor
정영대
Original Assignee
한화테크윈 주식회사
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Publication of WO2016111437A1 publication Critical patent/WO2016111437A1/en

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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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Abstract

A scanning lidar apparatus is disclosed. The scanning lidar apparatus according to the present invention comprises: a laser unit for oscillating a laser signal toward a specific area in a surrounding space and receiving the laser signal; a first rotation unit for rotating the laser unit on a first horizontal surface; a position adjustment unit for adjusting an angle between the first horizontal surface on which the laser unit and the first rotation unit are positioned and a second horizontal surface which is a scanning reference surface; a plate for forming the second horizontal surface, and supporting one side of the first rotation unit and one side of the position adjustment unit; and a second rotation unit for rotating the plate on the second horizontal surface.

Description

스캐닝 라이다 장치 및 이에 적용되는 방법Scanning lidar device and method applied thereto
본 발명은 스캐닝 라이다 장치 및 이에 적용되는 방법에 관한 것으로, 더욱 상세하게는 레이저 신호를 이용해서 주변을 탐색할 때 탐색이 되지 않는 사각지대가 발생하지 않도록 측정밀도를 조절하기 위한 스캐닝 라이다 장치 및 이에 적용되는 방법에 관한 것이다.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.
자동차 또는 이동형 로봇 등에서 주변의 지형 또는 물체를 감지하기 위하여 스캐닝 라이다가 사용되고 있다. 이러한 스캐닝 라이다는 주변영역으로 레이저 신호를 조사하고 주변물체 또는 지형에 반사되어 되돌아 오는 반사광을 이용함으로써, 주변의 물체나 지형을 스캔할 수 있다.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.
스캐닝 라이다 중에는 360도로 선회하면서 전방향을 스캐닝하는 전방향 스캔 레이다가 있다. 이러한 전방향 스캔 레이다는 광학구성에 의해 레이저 신호를 조사하는 각도가 고정된 상태에서 수평방향으로 360도 회전하여 주변에 대한 스캔을 실행하는 구조이다.Among the scanning lidars is 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.
즉, 종래 기술에 따른 스캐닝 라이다는 수평방향으로 회전하는 속도에 따라 주변의 지형 또는 물체에 대해 측정하는 밀도를 상이하게 할 수 있으나, 수직방향으로는 주변의 지형 또는 물체에 대해 측정하는 밀도가 변하지 않는다. That is, 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
이와 같은 이유로, 종래 기술에 따른 스캐닝 라이다는 주변공간을 탐색하는 데에 사각지대가 발생할 가능성이 상존하는 한계가 있으며, 이를 개선해서 스캐닝 라이다의 성능을 향상시킬 필요가 있다.For this reason, there is a limit that a blind spot may occur to search the surrounding space according to the prior art, and there is a need to improve the performance of the scanning lidar.
따라서, 본 발명은 상기의 문제점을 해결하기 위해 창출된 것으로, 본 발명의 과제는 레이저 신호를 이용해서 주변을 탐색할 때 탐색이 되지 않는 사각지대가 발생하지 않도록 측정밀도를 조절하기 위한 스캐닝 라이다 장치 및 이에 적용되는 방법을 제공하는 데 있다.Accordingly, the present invention has been made to solve the above problems, and 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.
또한, 본 발명은 스캐닝 라이다 장치를 장착한 장비의 속성별로 주변공간에 대한 측정밀도를 조절하기 위한 스캐닝 라이다 장치 및 이에 적용되는 방법을 제공하는 데 있다.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.
본 발명의 목적은 이상에서 언급한 과제로 제한되지 않으며, 언급되지 않은 또 다른 목적들은 아래의 기재로부터 당업자에게 명확하게 이해될 수 있을 것이다.The object of the present invention is not limited to the above-mentioned problems, and other objects not mentioned will be clearly understood by those skilled in the art from the following description.
상기 과제를 달성하기 위한 본 발명의 제1 관점에 따른 스캐닝 라이다 장치는 주변공간의 특정영역을 지향해서 레이저 신호를 발진 및 수광하는 레이저부, 제1 수평면에서 상기 레이저부를 회전하는 제1 회전부, 상기 레이저부 및 상기 제1 회전부가 위치한 상기 제1 수평면과 스캐닝 기준면인 제2 수평면의 각도를 조절하는 위치조절부, 상기 제2 수평면을 형성하며, 상기 제1 회전부의 일측과 상기 위치조절부의 일측을 지지하는 플레이트 및 상기 제2 수평면에서 상기 플레이트를 회전하는 제2 회전부를 포함한다.The scanning lidar apparatus according to the first aspect of the present invention 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.
스캐닝 라이다 장치는 상기 제1 회전부 및 상기 제2 회전부 중 적어도 하나를 회전 제어하고, 상기 위치조절부를 구동 제어하는 제어부를 더 포함할 수 있다.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.
상기 위치조절부는 상기 제1 수평면과 상기 제2 수평면이 한 변을 공유해서 접하는 경우, 상기 제1 수평면과 상기 제2 수평면을 교차하는 평면각을 조절할 수 있다.When the first horizontal plane and the second horizontal plane contact and share one side, the position adjusting unit may adjust a plane angle intersecting the first horizontal plane and the second horizontal plane.
상기 위치조절부는 상기 제1 수평면과 상기 제2 수평면이 적어도 한 점을 공유해서 접하는 경우, 상기 제1 수평면과 상기 제2 수평면의 위치 변화량을 조절할 수 있다.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.
상기 제어부는 상기 레이저부의 작동 결과, 상기 회전 제어를 실행한 제어값 및 상기 구동 제어를 실행한 제어값을 취합해서 측정위치 및 측정밀도를 산출하고, 산출된 측정위치 및 측정밀도를 기초로 스캐닝 사각지대를 결정할 수 있다.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.
상기 제어부는 상기 스캐닝 사각지대를 대상으로 상기 회전 제어 및 상기 구동 제어를 할 수 있다.The controller may perform the rotation control and the drive control with respect to the scanning blind spot.
상기 제어부는 상기 스캐닝 라이다 장치를 장착한 장비의 속성을 토대로 상기 스캐닝 사각지대를 보정할 수 있다.The control unit may correct the scanning blind spot based on the property of the device equipped with the scanning lidar device.
상기 과제를 달성하기 위한 본 발명의 제2 관점에 따른 스캐닝 방법은 스캐닝 라이다 장치에서, 주변공간의 특정영역을 지향해서 레이저 신호를 발진 및 수광하는 레이저부의 회전 방향과 대응되는 제1 수평면과 스캐닝 기준면인 제2 수평면의 각도를 조절하는 단계, 상기 제1 수평면에서 상기 레이저부를 회전하는 제1 회전부와, 상기 제2 수평면에서 상기 제1 회전부와 상기 각도를 조절하는 위치조절부를 지지하는 플레이트를 회전하는 제2 회전부 중 적어도 하나를 제어하는 단계 및 제어 신호에 따라 상기 제1 회전부 및 상기 제2 회전부 중 적어도 하나를 회전 구동하는 단계를 포함한다.The scanning method according to the second aspect of the present invention 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.
상기 각도를 조절하는 단계는 상기 제1 수평면과 상기 제2 수평면이 한 변을 공유해서 접하는 경우, 상기 제1 수평면과 상기 제2 수평면을 교차하는 평면각을 조절하는 단계를 포함할 수 있다.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.
상기 각도를 조절하는 단계는 상기 제1 수평면과 상기 제2 수평면이 적어도 한 점을 공유해서 접하는 경우, 상기 제1 수평면과 상기 제2 수평면의 위치 변화량을 조절하는 단계를 포함할 수 있다.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.
상기 제1 회전부 및 상기 제2 회전부 중 적어도 하나를 실행한 주변 스캐닝 결과를 기초로 측정위치 및 측정밀도를 산출하고, 산출된 측정위치 및 측정밀도를 이용해서 주변 영역 중에서 스캐닝 사각지대를 결정하는 단계를 더 포함할 수 있다.Calculating a measurement position and a measurement density based on a peripheral scanning result of executing at least one of the first rotation unit and the second rotation unit, and determining a scanning blind spot in the peripheral area using the calculated measurement position and measurement density It may further include.
상기 스캐닝 사각지대가 스캐닝 대상 영역에 포함되도록 상기 위치조절부의 각도를 조절하고, 상기 제1 회전부 및 상기 제2 회전부 중 적어도 하나를 구동 제어하는 단계를 더 포함할 수 있다.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.
상기 스캐닝 라이다 장치를 장착한 장비의 속성을 토대로 상기 스캐닝 사각지대를 보정하는 단계를 더 포함할 수 있다.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.
따라서, 본 발명에서는 레이저 신호를 이용해서 주변을 탐색할 때 탐색이 되지 않는 사각지대가 발생하지 않도록 측정밀도를 조절하기 위한 스캐닝 라이다 장치 및 이에 적용되는 방법을 제공함으로써, 주변공간을 탐색하는 데에 사각지대가 발생할 가능성을 최소화하고, 스캐닝 라이다 장치를 장착한 장비의 속성별로 주변공간에 대한 측정밀도를 조절할 수 있는 이점이 있다.Accordingly, 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. There is an advantage in that it is possible to minimize the possibility of blind spots and to adjust the measurement density of the surrounding space according to the properties of the equipment equipped with the scanning lidar device.
본 발명의 효과들은 이상에서 언급한 효과들로 제한되지 않으며, 언급되지 않은 또 다른 효과들은 청구범위의 기재로부터 당업자에게 명확하게 이해될 수 있을 것이다.The effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.
도 1은 본 발명의 일 실시예에 따른 스캐닝 라이다 장치의 블럭도이다.1 is a block diagram of a scanning lidar apparatus according to an embodiment of the present invention.
도 2는 도 1의 스캐닝 라이다 장치를 구동하기 위한 시스템 블럭도이다.FIG. 2 is a system block diagram for driving the scanning lidar apparatus of FIG. 1.
도 3은 도 1의 스캐닝 라이다 장치를 구체적인 일례로 나타내는 전체 구성도이다.3 is an overall configuration diagram showing the scanning lidar apparatus of FIG. 1 as a specific example.
도 4는 도 1의 위치조절부 중에서 각도 조절 구성을 일례로 나타내는 일부 구성도이다.4 is a partial configuration diagram showing an angle adjustment configuration as an example of the position adjustment unit of FIG. 1.
도 5는 도 1의 위치조절부 중에서 각도 조절 구성을 다른 예로 나타내는 일부 구성도이다.5 is a partial configuration diagram showing another example of the angle adjustment configuration of the position adjustment unit of FIG.
도 6은 도 3의 위치조절부를 제1 각도로 조절한 상태를 나타내는 예시도이다.6 is an exemplary view illustrating a state in which the position adjusting unit of FIG. 3 is adjusted at a first angle.
도 7은 도 6의 장치상태에 따른 측정밀도를 단순화된 궤적으로 나타내는 예시도이다.7 is an exemplary view showing a simplified trajectory of measurement density according to the apparatus state of FIG. 6.
도 8은 도 3의 위치조절부를 제2 각도로 조절한 상태를 나타내는 예시도이다.8 is an exemplary view illustrating a state in which the position adjusting unit of FIG. 3 is adjusted at a second angle.
도 9는 도 8의 장치상태에 따른 측정밀도를 단순화된 궤적으로 나타내는 예시도이다.9 is an exemplary view showing a simplified trajectory of measurement density according to the apparatus state of FIG. 8.
도 10은 본 발명의 다른 실시예에 따른 스캐닝 라이다 장치의 블럭도이다.10 is a block diagram of a scanning lidar apparatus according to another embodiment of the present invention.
도 11은 본 발명의 스캐닝 라이다 장치를 적용한 이동 로봇을 일례로 나타내는 예시도이다.11 is an exemplary view showing an example of a mobile robot to which the scanning lidar apparatus of the present invention is applied.
도 12는 본 발명의 스캐닝 라이다 장치가 동작하는 과정을 일 실시 예로 나타내는 순서도이다.12 is a flowchart illustrating a process of operating a scanning lidar apparatus of the present invention.
본 발명의 이점 및 특징, 그리고 그것들을 달성하는 방법은 첨부되는 도면과 함께 상세하게 후술되어 있는 실시예들을 참조하면 명확해질 것이다. 그러나 본 발명은 이하에서 개시되는 실시예들에 한정되는 것이 아니라 서로 다른 다양한 형태로 구현될 수 있으며, 단지 본 실시예들은 본 발명의 개시가 완전하도록 하고, 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 발명의 범주를 완전하게 알려주기 위해 제공되는 것이며, 본 발명은 청구항의 범주에 의해 정의될 뿐이다. 명세서 전체에 걸쳐 동일 참조 부호는 동일 구성 요소를 지칭한다.Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, 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.
또한, 본 명세서에서 기술하는 실시예들은 본 발명의 이상적인 예시도인 단면도 및/또는 개략도들을 참고하여 설명될 것이다. 따라서, 제조 기술 및/또는 허용 오차 등에 의해 예시도의 형태가 변형될 수 있다. 또한 본 발명에 도시된 각 도면에 있어서 각 구성 요소들은 설명의 편의를 고려하여 다소 확대 또는 축소되어 도시된 것일 수 있다. In addition, the embodiments described herein will be described with reference to cross-sectional and / or schematic views, which are ideal illustrations of the invention. Accordingly, shapes of the exemplary views may be modified by manufacturing techniques and / or tolerances. In addition, each component in each drawing shown in the present invention may be shown to be somewhat enlarged or reduced in view of the convenience of description.
이하, 첨부도면을 참조하여 본 발명의 바람직한 실시 예에 대하여 다음과 같이 상세히 설명한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.
도 1은 본 발명의 일 실시예에 따른 스캐닝 라이다 장치의 블럭도이다.1 is a block diagram of a scanning lidar apparatus according to an embodiment of the present invention.
도 1을 참조하면, 스캐닝 라이다 장치(100)는 레이저 신호를 이용해서 주변을 탐색할 때 탐색이 되지 않는 사각지대가 발생하지 않도록 측정밀도를 조절하기 위한 구성을 갖춘다.Referring to FIG. 1, 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.
여기서, 탐색이 되지 않는 사각지대라 함은 스캐닝 라이다 장치(100)가 위치한 주변의 전체 공간을 대상으로 하는 경우에 주변 물체 또는 지형을 탐색하지 못한 일부 특정영역을 일컫는 것이거나, 스캐닝 라이다 장치(100)가 주변 공간 중에서 탐색 대상으로 삼은 일부 공간을 대상으로 하는 경우에 주변 물체 또는 지형을 탐색하지 못한 상기 일부 공간 중에서 더 특정된 영역을 일컫는 것이다.Here, 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 In the case where 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.
구체적으로, 스캐닝 라이다 장치(100)는 레이저부(110), 제1 회전부(120), 위치조절부(130), 플레이트(140) 및 제2 회전부(150)를 포함한다.In detail, 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.
레이저부(110)는 주변 공간의 탐색을 위해 레이저 신호를 발진 및 수광한다. 레이저부(110)가 주변공간의 특정영역을 지향한 위치 상태에서 레이저 신호를 발진한다. 이후, 주변공간의 특정영역을 지향하여 발진된 레이저 신호는 주변공간의 특정영역에 위치한 물체 또는 지형에 반사된 후 반사된 레이저 신호로서 레이저부(110)에 수광된다.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.
이러한 레이저부(110)에서, 레이저 신호의 발진 및 수광을 위한 구성은 발진 모듈 및 수광 모듈의 조합으로서 구비될 수 있다. 발진 모듈 및 수광 모듈의 조합 구성은 레이저부(110)에 적어도 하나로 구비될 수 있다. In such a laser unit 110, 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.
바람직하게는, 전술한 발진 모듈 및 수광 모듈의 조합 구성이 다수 개(110-1, 110-2, 110-3)로 구비되며, 스캐닝 라이다 장치(100)가 주변 공간에 대한 측정 밀도를 형성하기 위한 제어를 실행할 때 최소 시간 단위별 측정 밀도를 향상시킬 수 있는 패턴으로 다수 개의 발진 모듈 및 수광 모듈의 조합 구성(110-1, 110-2, 110-3)이 레이저부(110)에 배치될 수 있다. Preferably, 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.
여기서, 최소 시간 단위별로 측정 밀도를 향상시킬 수 있는 패턴으로 다수 개의 발진 모듈 및 수광 모듈의 조합 구성(110-1, 110-2, 110-3)이 레이저부(110)에 배치되는 구조라 함은 보다 상세한 도면을 참고로 설명하는 것이 위 언급된 구조를 설명하는 데에 용이하므로 이하, 도 3 부분에서 관련 부분을 상술하기로 한다.Here, 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.
레이저부(110)는 스캐닝 라이다 장치(100)가 놓여 진 주변 공간의 특정 영역을 일일이 지향한 후 레이저 신호를 이용한 탐색 과정을 반복함에 따라, 주변 공간의 수많은 특정 영역을 일일이 지향하기 위한 공간상의 위치 이동을 한다.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.
제1 회전부(120)는 이러한 레이저부(110)의 공간상의 위치를 지지하고, 레이저부(110)가 주변 공간의 각 특정 영역을 지향할 수 있도록 레이저부(110)의 공간상 위치를 변경하는 역할을 한다. 특히, 제1 회전부(120)는 레이저부(110)의 공간상 위치를 변경하는 기능들 중에서 레이저부(110)와 결합하는 평면에서 레이저부(110)를 회전하는 기능을 수행함에 따라 레이저부(110)가 주변 공간에 대해 지향하는 위치를 변경할 수 있게 한다.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. In particular, 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.
위치조절부(130)는 레이저부(110)의 공간상 위치를 변경하는 기능들 중에서 레이저부(110)를 상하 이동하는 기능을 수행하거나, 레이저부(110)의 상하 이동을 포함한 변위를 변경하는 기능을 수행할 수 있다. 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.
구체적으로, 위치조절부(130)는 레이저부(110) 및 제1 회전부(120)가 위치한 제1 수평면(A)과 스캐닝 기준면인 제2 수평면(B)의 각도를 조절한다. 레이저부(110) 및 제1 회전부(120)가 한 블럭으로 형성되고, 레이저부(110) 및 제1 회전부(120)를 포함하는 블럭의 일측이 위치조절부(130)에 의해 지지되면서 위치조절부(130)의 위치 조절 기능에 따라 레이저부(110) 및 제1 회전부(120)를 포함하는 블럭도 함께 위치 이동하는 구조이다. In detail, 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.
즉, 제1 수평면(A)은 레이저부(110) 및 제1 회전부(120)를 포함하는 블럭이 위치조절부(130)에 의해 지지되는 평면을 일컫는다.That is, 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.
또한, 제1 수평면(A)과 대비되는 제2 수평면(B)은 전술한 바와 같이 스캐닝 기준면으로서, 위치 조절 기능의 실행을 위한 위치 기준면이 될 수도 있다.In addition, 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.
예컨대, 제2 수평면(B)은 스캐닝 라이다 장치(100)가 특정 장비에 장착되지 않은 상태인 경우, 지평면과 수평 방향에 놓일 수 있다.For example, 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.
제1 회전부(120)에 의해 회전하는 대상인 레이저부(110)는 제1 수평면(A)에 의해 지지 되나, 제1 회전부(120)에 의해 회전하는 평면은 제1 수평면(A)과 평행한 제1-1 수평면(C)이 된다. 여기서, 제1 수평면(A)과 제1-1 수평면(C) 사이의 간격은 레이저부(110)와 제1 회전부(120) 간의 결합 관계를 형성하는 것에 기초하며, 구체적으로는 레이저부(110)의 회전 중심점과 제1 수평면(A) 간의 폭 만큼 형성될 수 있다.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). Here, 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).
플레이트(140)는 제2 수평면(B)을 회전 축으로 하거나, 제2 수평면(B)에 접하는 위치에 구비되며, 제1 회전부(120)의 일측과 위치조절부(130)의 일측을 지지한다.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. .
플레이트(140)가 회전하는 경우, 제1 회전부(120) 및 위치조절부(130)를 지지하는 구조로 인해 제1 회전부(120) 및 위치조절부(130)와 함께 회전한다. 이때, 제1 회전부(120)를 지지한다는 것은 제1 회전부(120)와 회전 가능하게 결합된 상태인 레이저부(110)도 함께 지지할 수 있다는 것을 의미한다.When the plate 140 rotates, the plate 140 rotates together with the first rotating unit 120 and the position adjusting unit 130 due to the structure supporting the first rotating unit 120 and the position adjusting unit 130. In this case, 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.
이러한 플레이트(140)의 회전은 제2 회전부(150)에 의해 실행된다.The rotation of the plate 140 is performed by the second rotating part 150.
제2 회전부(150)는 플레이트(140)의 공간상 위치를 지지할 뿐만 아니라, 플레이트(140)를 제2 수평면(B)을 회전축으로 하여 회전하거나 플레이트(140)를 제2 수평면(B)에 평행한 축을 통해 회전함에 따라 플레이트(140)로 지지 되는 레이저부(110), 제1 회전부(120) 및 위치조절부(130)를 모두 회전하는 것이 가능하다.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.
도 2는 도 1의 스캐닝 라이다 장치를 구동하기 위한 시스템 블럭도이다.FIG. 2 is a system block diagram for driving the scanning lidar apparatus of FIG. 1.
도 2를 참조하면, 스캐닝 라이다 장치(100)를 구동하기 위한 시스템은 구동 대상인 스캐닝 라이다 장치(100)와, 스캐닝 라이다 장치(100)의 구동을 제어하는 제어 모듈(200)을 포함한다.Referring to FIG. 2, 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. .
제어 모듈(200)은 스캐닝 라이다 장치(100)에 포함되는 제1 회전부(120) 및 제2 회전부(150) 중 적어도 하나를 회전 제어하고, 위치조절부(130)를 구동 제어한다.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.
이와 같은 제어 모듈(200)은 다양한 방식으로 스캐닝 라이다 장치(100)의 구동을 제어하는 것이 가능하다.The control module 200 may control the driving of the scanning lidar device 100 in various ways.
예를 들면, 제어 모듈(200)은 스캐닝 라이다 장치(100)와 유선 또는 무선으로 접속된 상태에서, 스캐닝 라이다 장치(100)와 통신하는 것을 기반으로 스캐닝 라이다 장치(100)의 구동을 제어할 수 있다.For example, the 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.
제어 모듈(200)과 스캐닝 라이다 장치(100)가 유선으로 연결된 일례를 들면, 도 11에 도시된 바와 같이 스캐닝 라이다 장치(100)를 이동 로봇(400)에 장착한 형태를 들 수 있다.As an example in which the control module 200 and the scanning lidar device 100 are connected by wire, the scanning lidar device 100 may be mounted on the mobile robot 400 as illustrated in FIG. 11.
이러한 형태의 제1 구체화된 예로는, 스캐닝 라이다 장치(100)를 구동 제어하는 제어 모듈(200)이 이동 로봇(400)에 구비되고, 이동 로봇(400) 내에 구비되는 제어 모듈(200)과 이동 로봇(400)의 메인 제어장치가 상호 연동하는 구조를 통해 주변 탐색에 기초한 이동 로봇(400)의 움직임을 실행할 수 있다.In a first embodiment of this type, 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. Through the structure in which 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.
전술한 형태의 제2 구체화된 예로는, 스캐닝 라이다 장치(100)를 구동 제어하는 제어 모듈(200)이 이동 로봇(400) 내의 메인 제어장치로서 구비될 수 있다. 즉, 이동 로봇(400)의 메인 제어장치가 직접 스캐닝 본 발명의 이점 및 특징, 그리고 그것들을 달성하는 방법은 첨부되는 도면과 함께 상세하게 후술되어 있는 실시예들을 참조하면 명확해질 것이다. 그러나 본 발명은 이하에서 개시되는 실시예들에 한정되는 것이 아니라 서로 다른 다양한 형태로 구현될 수 있으며, 단지 본 실시예들은 본 발명의 개시가 완전하도록 하고, 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 발명의 범주를 완전하게 알려주기 위해 제공되는 것이며, 본 발명은 청구항의 범주에 의해 정의될 뿐이다. 명세서 전체에 걸쳐 동일 참조 부호는 동일 구성 요소를 지칭한다.In a second embodiment of the above-described form, 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. However, 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.
또한, 본 명세서에서 기술하는 실시예들은 본 발명의 이상적인 예시도인 단면도 및/또는 개략도들을 참고하여 설명될 것이다. 따라서, 제조 기술 및/또는 허용 오차 등에 의해 예시도의 형태가 변형될 수 있다. 또한 본 발명에 도시된 각 도면에 있어서 각 구성 요소들은 설명의 편의를 고려하여 다소 확대 또는 축소되어 도시된 것일 수 있다. In addition, the embodiments described herein will be described with reference to cross-sectional and / or schematic views, which are ideal illustrations of the invention. Accordingly, shapes of the exemplary views may be modified by manufacturing techniques and / or tolerances. In addition, each component in each drawing shown in the present invention may be shown to be somewhat enlarged or reduced in view of the convenience of description.
이하, 첨부도면을 참조하여 본 발명의 바람직한 실시 예에 대하여 다음과 같이 상세히 설명한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.
도 1은 본 발명의 일 실시예에 따른 스캐닝 라이다 장치의 블럭도이다.1 is a block diagram of a scanning lidar apparatus according to an embodiment of the present invention.
도 1을 참조하면, 스캐닝 라이다 장치(100)는 레이저 신호를 이용해서 주변을 탐색할 때 탐색이 되지 않는 사각지대가 발생하지 않도록 측정밀도를 조절하기 위한 구성을 갖춘다.Referring to FIG. 1, 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.
여기서, 탐색이 되지 않는 사각지대라 함은 스캐닝 라이다 장치(100)가 위치한 주변의 전체 공간을 대상으로 하는 경우에 주변 물체 또는 지형을 탐색하지 못한 일부 특정영역을 일컫는 것이거나, 스캐닝 라이다 장치(100)가 주변 공간 중에서 탐색 대상으로 삼은 일부 공간을 대상으로 하는 경우에 주변 물체 또는 지형을 탐색하지 못한 상기 일부 공간 중에서 더 특정된 영역을 일컫는 것이다.Here, 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 In the case where 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.
구체적으로, 스캐닝 라이다 장치(100)는 레이저부(110), 제1 회전부(120), 위치조절부(130), 플레이트(140) 및 제2 회전부(150)를 포함한다.In detail, 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.
레이저부(110)는 주변 공간의 탐색을 위해 레이저 신호를 발진 및 수광한다. 레이저부(110)가 주변공간의 특정영역을 지향한 위치 상태에서 레이저 신호를 발진한다. 이후, 주변공간의 특정영역을 지향하여 발진된 레이저 신호는 주변공간의 특정영역에 위치한 물체 또는 지형에 반사된 후 반사된 레이저 신호로서 레이저부(110)에 수광된다.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.
이러한 레이저부(110)에서, 레이저 신호의 발진 및 수광을 위한 구성은 발진 모듈 및 수광 모듈의 조합으로서 구비될 수 있다. 발진 모듈 및 수광 모듈의 조합 구성은 레이저부(110)에 적어도 하나로 구비될 수 있다. In such a laser unit 110, 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.
바람직하게는, 전술한 발진 모듈 및 수광 모듈의 조합 구성이 다수 개(110-1, 110-2, 110-3)로 구비되며, 스캐닝 라이다 장치(100)가 주변 공간에 대한 측정 밀도를 형성하기 위한 제어를 실행할 때 최소 시간 단위별 측정 밀도를 향상시킬 수 있는 패턴으로 다수 개의 발진 모듈 및 수광 모듈의 조합 구성(110-1, 110-2, 110-3)이 레이저부(110)에 배치될 수 있다. Preferably, 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.
여기서, 최소 시간 단위별로 측정 밀도를 향상시킬 수 있는 패턴으로 다수 개의 발진 모듈 및 수광 모듈의 조합 구성(110-1, 110-2, 110-3)이 레이저부(110)에 배치되는 구조라 함은 보다 상세한 도면을 참고로 설명하는 것이 위 언급된 구조를 설명하는 데에 용이하므로 이하, 도 3 부분에서 관련 부분을 상술하기로 한다.Here, 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.
레이저부(110)는 스캐닝 라이다 장치(100)가 놓여 진 주변 공간의 특정 영역을 일일이 지향한 후 레이저 신호를 이용한 탐색 과정을 반복함에 따라, 주변 공간의 수많은 특정 영역을 일일이 지향하기 위한 공간상의 위치 이동을 한다.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.
제1 회전부(120)는 이러한 레이저부(110)의 공간상의 위치를 지지하고, 레이저부(110)가 주변 공간의 각 특정 영역을 지향할 수 있도록 레이저부(110)의 공간상 위치를 변경하는 역할을 한다. 특히, 제1 회전부(120)는 레이저부(110)의 공간상 위치를 변경하는 기능들 중에서 레이저부(110)와 결합하는 평면에서 레이저부(110)를 회전하는 기능을 수행함에 따라 레이저부(110)가 주변 공간에 대해 지향하는 위치를 변경할 수 있게 한다.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. In particular, 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.
위치조절부(130)는 레이저부(110)의 공간상 위치를 변경하는 기능들 중에서 레이저부(110)를 상하 이동하는 기능을 수행하거나, 레이저부(110)의 상하 이동을 포함한 변위를 변경하는 기능을 수행할 수 있다. 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.
구체적으로, 위치조절부(130)는 레이저부(110) 및 제1 회전부(120)가 위치한 제1 수평면(A)과 스캐닝 기준면인 제2 수평면(B)의 각도를 조절한다. 레이저부(110) 및 제1 회전부(120)가 한 블럭으로 형성되고, 레이저부(110) 및 제1 회전부(120)를 포함하는 블럭의 일측이 위치조절부(130)에 의해 지지되면서 위치조절부(130)의 위치 조절 기능에 따라 레이저부(110) 및 제1 회전부(120)를 포함하는 블럭도 함께 위치 이동하는 구조이다. In detail, 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.
즉, 제1 수평면(A)은 레이저부(110) 및 제1 회전부(120)를 포함하는 블럭이 위치조절부(130)에 의해 지지되는 평면을 일컫는다.That is, 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.
또한, 제1 수평면(A)과 대비되는 제2 수평면(B)은 전술한 바와 같이 스캐닝 기준면으로서, 위치 조절 기능의 실행을 위한 위치 기준면이 될 수도 있다.In addition, 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.
예컨대, 제2 수평면(B)은 스캐닝 라이다 장치(100)가 특정 장비에 장착되지 않은 상태인 경우, 지평면과 수평 방향에 놓일 수 있다.For example, 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.
제1 회전부(120)에 의해 회전하는 대상인 레이저부(110)는 제1 수평면(A)에 의해 지지 되나, 제1 회전부(120)에 의해 회전하는 평면은 제1 수평면(A)과 평행한 제1-1 수평면(C)이 된다. 여기서, 제1 수평면(A)과 제1-1 수평면(C) 사이의 간격은 레이저부(110)와 제1 회전부(120) 간의 결합 관계를 형성하는 것에 기초하며, 구체적으로는 레이저부(110)의 회전 중심점과 제1 수평면(A) 간의 폭 만큼 형성될 수 있다.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). Here, 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).
플레이트(140)는 제2 수평면(B)을 회전 축으로 하거나, 제2 수평면(B)에 접하는 위치에 구비되며, 제1 회전부(120)의 일측과 위치조절부(130)의 일측을 지지한다.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. .
플레이트(140)가 회전하는 경우, 제1 회전부(120) 및 위치조절부(130)를 지지하는 구조로 인해 제1 회전부(120) 및 위치조절부(130)와 함께 회전한다. 이때, 제1 회전부(120)를 지지한다는 것은 제1 회전부(120)와 회전 가능하게 결합된 상태인 레이저부(110)도 함께 지지할 수 있다는 것을 의미한다.When the plate 140 rotates, the plate 140 rotates together with the first rotating unit 120 and the position adjusting unit 130 due to the structure supporting the first rotating unit 120 and the position adjusting unit 130. In this case, 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.
이러한 플레이트(140)의 회전은 제2 회전부(150)에 의해 실행된다.The rotation of the plate 140 is performed by the second rotating part 150.
제2 회전부(150)는 플레이트(140)의 공간상 위치를 지지할 뿐만 아니라, 플레이트(140)를 제2 수평면(B)을 회전축으로 하여 회전하거나 플레이트(140)를 제2 수평면(B)에 평행한 축을 통해 회전함에 따라 플레이트(140)로 지지 되는 레이저부(110), 제1 회전부(120) 및 위치조절부(130)를 모두 회전하는 것이 가능하다.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.
도 2는 도 1의 스캐닝 라이다 장치를 구동하기 위한 시스템 블럭도이다.FIG. 2 is a system block diagram for driving the scanning lidar apparatus of FIG. 1.
도 2를 참조하면, 스캐닝 라이다 장치(100)를 구동하기 위한 시스템은 구동 대상인 스캐닝 라이다 장치(100)와, 스캐닝 라이다 장치(100)의 구동을 제어하는 제어 모듈(200)을 포함한다.Referring to FIG. 2, 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. .
제어 모듈(200)은 스캐닝 라이다 장치(100)에 포함되는 제1 회전부(120) 및 제2 회전부(150) 중 적어도 하나를 회전 제어하고, 위치조절부(130)를 구동 제어한다.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.
이와 같은 제어 모듈(200)은 다양한 방식으로 스캐닝 라이다 장치(100)의 구동을 제어하는 것이 가능하다.The control module 200 may control the driving of the scanning lidar device 100 in various ways.
예를 들면, 제어 모듈(200)은 스캐닝 라이다 장치(100)와 유선 또는 무선으로 접속된 상태에서, 스캐닝 라이다 장치(100)와 통신하는 것을 기반으로 스캐닝 라이다 장치(100)의 구동을 제어할 수 있다.For example, the 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.
제어 모듈(200)과 스캐닝 라이다 장치(100)가 유선으로 연결된 일례를 들면, 도 11에 도시된 바와 같이 스캐닝 라이다 장치(100)를 이동 로봇(400)에 장착한 형태를 들 수 있다.As an example in which the control module 200 and the scanning lidar device 100 are connected by wire, the scanning lidar device 100 may be mounted on the mobile robot 400 as illustrated in FIG. 11.
이러한 형태의 제1 구체화된 예로는, 스캐닝 라이다 장치(100)를 구동 제어하는 제어 모듈(200)이 이동 로봇(400)에 구비되고, 이동 로봇(400) 내에 구비되는 제어 모듈(200)과 이동 로봇(400)의 메인 제어장치가 상호 연동하는 구조를 통해 주변 탐색에 기초한 이동 로봇(400)의 움직임을 실행할 수 있다.In a first embodiment of this type, 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. Through the structure in which 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.
전술한 형태의 제2 구체화된 예로는, 스캐닝 라이다 장치(100)를 구동 제어하는 제어 모듈(200)이 이동 로봇(400) 내의 메인 제어장치로서 구비될 수 있다. 즉, 이동 로봇(400)의 메인 제어장치가 직접 스캐닝 라이다 장치(100)와 연결되는 구조를 통해 주변 탐색에 기초한 이동 로봇(400)의 움직임을 실행할 수 있다.In a second embodiment of the above-described form, 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 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.
도 3은 도 1의 스캐닝 라이다 장치를 구체적인 일례로 나타내는 전체 구성도이다.3 is an overall configuration diagram showing the scanning lidar apparatus of FIG. 1 as a specific example.
도 3을 참조하면, 스캐닝 라이다 장치(100)는 주변 공간의 특정 영역을 지향해서 레이저 신호를 발진 및 수광하는 레이저부(110), 제1 수평면(A)에서 레이저부(110)를 회전하는 제1 회전부(120), 레이저부(110) 및 제1 회전부(120)가 위치한 제1 수평면(A)과 스캐닝 기준면인 제2 수평면(B)의 각도를 조절하는 위치조절부(130), 제2 수평면(B)을 형성하며 제1 회전부(120)의 일측과 위치조절부(130)의 일측을 지지하는 플레이트(140), 및 제2 수평면(B)에서 플레이트(140)를 회전하는 제2 회전부(150)를 포함한다.Referring to FIG. 3, 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. A position adjusting unit 130 for adjusting an angle between the first horizontal plane A on which the first rotating unit 120, the laser unit 110, and the first rotating unit 120 are positioned, and the second horizontal plane B, which is a scanning reference plane, 2 forming a horizontal plane (B) and a plate 140 for supporting one side of the first rotating unit 120 and one side of the position adjusting unit 130, and a second rotating plate 140 in the second horizontal plane (B) Rotating part 150 is included.
레이저부(110)는 레이저 신호의 발진 및 수광을 위한 적어도 하나의 발진 모듈 및 수광 모듈의 조합 구성을 구비한다.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.
여기서, 적어도 하나의 발진 모듈 및 수광 모듈을 조합한 구성이 레이저부(110)에 배치되는 구조는 스캐닝 라이다 장치(100)가 주변 공간에 대한 측정 밀도를 형성하기 위한 제어를 실행할 때 최소 시간 단위별 측정 밀도를 향상시킬 수 있는 패턴으로 배치될 수 있다.Here, 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.
예를 들면, 적어도 하나의 발진 모듈 및 수광 모듈을 조합한 구성은 제1-1 수평면(C)과 동일한 축을 따라 배열되는 구조로 레이저부(110)에 구비되는 것이 가능하다. 이러한 발진 모듈 및 수광 모듈의 배열 구조를 통해 제2 수평면(B)에 수직한 축으로 1회 회전하는 스캔을 실행할 때, 스캔 폭을 조절하기에 적합한 이점이 있다.For example, 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).
즉, 위치조절부(130)의 각도 조절에 따라 제1 수평면(A)과 제2 수평면(B) 간의 각도가 커지는 경우, 전술한 배열 구조를 갖춘 레이저부(110)를 통해 제2 수평면(B)에 수직한 축으로 1회 회전하는 스캔을 실행할 때의 스캔 폭이 커진다.That is, when the angle between the first horizontal plane A and the second horizontal plane B increases according to the angle adjustment of the position adjusting unit 130, 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.
반면에, 위치조절부(130)의 각도 조절에 따라 제1 수평면(A)과 제2 수평면(B) 간의 각도가 작아지는 경우, 전술한 배열 구조를 갖춘 레이저부(110)를 통해 제2 수평면(B)에 수직한 축으로 1회 회전하는 스캔을 실행할 때의 스캔 폭이 작아진다.On the other hand, when the angle between the first horizontal plane (A) and the second horizontal plane (B) is reduced according to the angle adjustment of the position adjusting unit 130, the second horizontal plane through the laser unit 110 having the above-described arrangement structure The scan width at the time of performing the scan which rotates once in the axis perpendicular | vertical to (B) becomes small.
제1 회전부(120)는 레이저부(110)를 회전하기 위한 모터(120-1)를 포함한다. 이러한 모터(120-1)는 스테이터(stator)와 로터(rotor)를 구비하며, 모터(120-1) 내의 중심 회전축을 기준으로 하는 경우 내측에 스테이터가 구비되고, 외측에 로터가 구비될 수 있다. 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. When the motor 120-1 is based on a central rotation axis in the motor 120-1, a stator is provided inside and a rotor is provided outside. .
여기서, 제1 회전부(120)는 레이저부(110)를 회전하는 구성을 갖출 뿐만 아니라, 레이저부(110)로부터 스캔 결과의 신호를 제공받아 제어부로 전달하고, 레이저부(110)의 구동을 제어하기 위한 제어 신호를 제어부로부터 제공받아 레이저부(110)에 전달하기 위한 구조를 갖출 필요가 있다. 이를 위해, 제1 회전부(120)에 구비되는 모터(120-1)는 중공 모터로서, 스테이터를 중공 형상으로 구비하는 것이 가능하다.Here, 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. To this end, 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.
또한, 제1 회전부(120)의 로터는 레이저부(110)의 중심축과 연결된 회전 샤프트(120-2)와 연결됨에 따라, 제1 회전부(120)의 로터가 회전하여 발생한 회전 구동력이 회전 샤프트(120-2)를 거쳐 레이저부(110)에 전달된다.In addition, as the rotor of the first rotating part 120 is connected to the rotating shaft 120-2 connected to the central axis of the laser unit 110, 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).
위치조절부(130)는 제1 수평면(A)과 제2 수평면(B)의 각도를 조절하는 구조를 갖춘다. Position adjusting unit 130 has a structure for adjusting the angle of the first horizontal plane (A) and the second horizontal plane (B).
예를 들면, 도 3에 도시된 바와 같이, 스캔 기준면인 제2 수평면(B)을 고정한 상태에서 제1 수평면(A)을 가변하는 구조가 가능하다. 즉, 제1 수평면(A)에 접해 있는 제1 회전부(120)의 일측과 플레이트(140)를 고정적으로 힌지 연결한 상태에서, 제1 회전부(120)의 타측과 플레이트(140)를 연결하는 다수의 힌지와 프레임을 결합한 구조물의 형태를 변경하는 방식으로 제2 수평면(B)에 대한 제1 수평면(A)의 각도를 조절할 수 있다.For example, as shown in FIG. 3, a structure in which the first horizontal plane A is varied while the second horizontal plane B, which is the scan reference plane, is fixed. That is, a plurality of connecting the other side of the first rotating part 120 and the plate 140 in a state in which one side of the first rotating part 120 in contact with the first horizontal plane A and the plate 140 is fixedly hinged. 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.
제2 회전부(150)는 플레이트(140)를 회전하는 구성으로서 플레이트(140)를 회전하는 구성을 갖출 뿐만 아니라, 레이저부(110)의 구동을 위한 제어 신호를 제1 회전부(120)를 거쳐 레이저부(110)까지 전달하거나 레이저부(110)로부터 스캔 결과의 신호를 제공받기 위한 구조를 더 갖출 필요가 있다. 이를 위해, 제2 회전부(150)에 구비되는 모터(150-1)는 중공 모터로서, 스테이터를 중공 형상으로 구비하여 전술한 신호들의 통신을 위한 통신선이 위치할 수 있는 공간을 갖출 필요가 있다.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. To this end, 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.
도 4는 도 1의 위치조절부 중에서 각도 조절 구성을 일례로 나타내는 일부 구성도이다.4 is a partial configuration diagram showing an angle adjustment configuration as an example of the position adjustment unit of FIG. 1.
도 4를 참조하면, 위치조절부(130)는 레이저부(110) 및 제1 회전부(120)를 지지하는 제1 수평면(A)과 스캐닝 기준면인 제2 수평면(B)이 한 변을 공유해서 접하는 경우, 제1 수평면(A)과 제2 수평면(B)을 교차하는 평면각(θ')을 조절할 수 있다.Referring to FIG. 4, in the position adjusting unit 130, 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. In the case of contact, the plane angle θ 'intersecting the first horizontal plane A and the second horizontal plane B may be adjusted.
도 5는 도 1의 위치조절부 중에서 각도 조절 구성을 다른 예로 나타내는 일부 구성도이다.5 is a partial configuration diagram showing another example of the angle adjustment configuration of the position adjustment unit of FIG.
도 5를 참조하면, 위치조절부(130)는 레이저부(110) 및 제1 회전부(120)를 지지하는 제1 수평면(A)과 스캐닝 기준면인 제2 수평면(B)이 적어도 한 점을 공유해서 접하는 경우, 스캐닝 기준면인 제2 수평면(B)에 대한 제1 수평면(A)의 위치 변화량을 조절할 수 있다. Referring to FIG. 5, 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. In this case, 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.
이때, 위치조절부(130)는 다수의 힌지와 프레임을 결합한 구조물을 제1 회전부(120)와 플레이트(140) 사이에 다수 개 배치한 상태에서, 각 구조물의 형태를 변경하는 방식으로 제2 수평면(B)에 대한 제1 수평면(A)의 위치 변화량을 조절하는 것이 가능하다.At this time, 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).
도 6은 도 3의 위치조절부를 제1 각도로 조절한 상태를 나타내는 예시도이고, 도 7은 도 6의 장치상태에 따른 측정밀도를 단순화된 궤적으로 나타내는 예시도이다.6 is an exemplary view illustrating a state in which the position adjusting unit of FIG. 3 is adjusted at a first angle, and FIG. 7 is an exemplary view illustrating a simplified trajectory of measurement density according to the apparatus state of FIG. 6.
도 6 및 도 7을 참조하면, 레이저부(110)에서 발진 모듈 및 수광 모듈을 조합한 구성이 제1 수평면(A)과 평행인 제1-2 수평면(D), 제1-3 수평면(E) 및 제1-4 수평면(F)에 걸쳐 배치된 상태이다.6 and 7, 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).
이러한 상태의 레이저부(110) 및 제1 회전부(120)를 포함하는 블럭을 지지하는 평면인 제1 수평면(A)이 스캐닝 기준면인 제2 수평면(B)에 대해 'L' 각도를 형성하는 경우, 'L' 각도로 위치 조절된 상태에서 제2 회전부(150)의 회전 구동이 실행되어 제2 수평면(B)에 수직한 축으로 1회 회전하는 스캔을 할 때, 도 7에 도시된 바와 같은 스캔 폭이 형성될 수 있다.When 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, forms an 'L' angle with respect to the second horizontal plane B, which is the scanning reference plane. , When 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.
도 8은 도 3의 위치조절부를 제2 각도로 조절한 상태를 나타내는 예시도이고, 도 9는 도 8의 장치상태에 따른 측정밀도를 단순화된 궤적으로 나타내는 예시도이다.8 is an exemplary view illustrating a state in which the position adjusting unit of FIG. 3 is adjusted at a second angle, and FIG. 9 is an exemplary view illustrating a simplified trajectory of measurement density according to the apparatus state of FIG. 8.
도 8 및 도 9를 참조하면, 레이저부(110)에서 발진 모듈 및 수광 모듈을 조합한 구성이 제1 수평면(A)과 평행인 제1-2 수평면(D), 제1-3 수평면(E) 및 제1-4 수평면(F)에 걸쳐 배치된 상태에서 전술한 예와 달리 다른 각도를 형성할 수 있다.8 and 9, 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. FIG. ) And in the state arranged over the first to fourth horizontal planes F, different angles may be formed unlike the above-described example.
즉, 레이저부(110) 및 제1 회전부(120)를 포함하는 블럭을 지지하는 평면인 제1 수평면(A)이 스캐닝 기준면인 제2 수평면(B)에 대해 'l' 각도를 형성하는 경우, 'l' 각도로 위치 조절된 상태에서 제2 회전부(150)의 회전 구동이 실행되어 제2 수평면(B)에 수직한 축으로 1회 회전하는 스캔을 할 때, 도 9에 도시된 바와 같은 스캔 폭이 형성될 수 있다. 여기서, 도 9의 스캔 폭은 도 7의 스캔 폭 보다 좁아진 것을 확인할 수 있다.That is, when the first horizontal plane A, which is a plane that supports the block including the laser unit 110 and the first rotating unit 120, forms an 'l' angle with respect to 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. Here, it can be seen that the scan width of FIG. 9 is narrower than the scan width of FIG. 7.
도 10은 본 발명의 다른 실시예에 따른 스캐닝 라이다 장치의 블럭도이다.10 is a block diagram of a scanning lidar apparatus according to another embodiment of the present invention.
도 10을 참조하면, 스캐닝 라이다 장치(300)는 주변 공간의 특정 영역을 지향해서 레이저 신호를 발진 및 수광하는 레이저부(310), 제1 수평면(A)에서 레이저부를 회전하는 제1 회전부(320), 레이저부(310) 및 제1 회전부(320)가 위치한 제1 수평면(A)과 스캐닝 기준면인 제2 수평면(B)의 각도를 조절하는 위치조절부(330), 제2 수평면(B)을 형성하며 제1 회전부(320)의 일측과 위치조절부(330)의 일측을 지지하는 플레이트(340) 및 제2 수평면(B)에서 플레이트(340)를 회전하는 제2 회전부(350)를 포함하되, 제1 회전부(320) 및 제2 회전부(350) 중 적어도 하나를 회전 제어하고 위치조절부(330)를 구동 제어하는 제어부(360)를 더 포함할 수도 있다.Referring to FIG. 10, 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.
도 12는 본 발명의 스캐닝 라이다 장치가 동작하는 과정을 일 실시 예로 나타내는 순서도이다.12 is a flowchart illustrating a process of operating a scanning lidar apparatus of the present invention.
도 12에 도시된 바와 같이, 스캐닝 라이다 장치(300)를 실행해서 주변공간의 특정영역을 지향한 스캐닝 설정을 할 수 있으며(S1), 이러한 스캐닝 설정에서 주변공간의 특정영역을 지향해서 레이저 신호를 발진 및 수광하는 레이저부(310)의 회전 방향과 대응되는 제1 수평면과 스캐닝 기준면인 제2 수평면의 각도를 조절하는 것이 가능하다(S3).As shown in FIG. 12, 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).
여기서, 각도 조절 단계에서는 제1 수평면과 제2 수평면이 한 변을 공유해서 접하는 경우, 제1 수평면과 제2 수평면을 교차하는 평면각을 조절하는 단계를 포함할 수 있으며, 제1 수평면과 제2 수평면이 적어도 한 점을 공유해서 접하는 경우에는, 제1 수평면과 제2 수평면의 위치 변화량을 조절하는 단계를 포함할 수 있다.Here, 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.
이후, 제1 수평면에서 레이저부(310)를 회전하는 제1 회전부(320)와, 제2 수평면에서 제1 회전부(320)와 각도 조절 구성인 위치조절부(330)를 지지하는 플레이트(340)를 회전하는 제2 회전부(350) 중 적어도 하나에 대한 제어를 한다(S5).Subsequently, 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).
이후, S5 단계의 제어에 따라 제1 회전부(320) 및 제2 회전부(350) 중 적어도 하나가 회전 구동된다(S7).Thereafter, 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).
이후, 스캐닝 라이다 장치(300)는 전술한 단계들의 실행을 통해 주변 스캐닝 결과를 저장할 수 있고(S9), 저장된 주변 스캐닝 결과를 기초로 스캐닝 라이다 장치(300)가 주변공간을 지향하는 측정위치 및 측정밀도를 산출하며(S11), 산출된 측정위치 및 측정밀도를 이용해서 주변 영역 중에서 스캐닝 사각지대를 결정할 수 있다(S13).Thereafter, 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).
S13 단계에서 결정된 스캐닝 사각지대가 존재하는 경우, 스캐닝 라이다 장치(300)는 스캐닝 사각지대가 스캐닝 대상 영역에 포함되도록 상기 위치조절부(330)의 각도를 조절하고, 상기 제1 회전부(320) 및 상기 제2 회전부(350) 중 적어도 하나를 구동 제어할 수 있다(S15).If the scanning blind spot determined in step S13 exists, 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).
한편, S13 단계에서 스캐닝 사각지대가 존재하지 않는 경우에는, 추가로 스캐닝을 지속할지 여부에 대한 사용자 선택에 따라 스캐닝 라이다 장치(300)의 지속 실행 여부가 결정된다(S17).On the other hand, if the scanning blind spot does not exist in 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).
이상과 첨부된 도면을 참조하여 본 발명의 실시 예를 설명하였지만, 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자는 본 발명이 그 기술적 사상이나 필수적인 특징을 변경하지 않고서 다른 구체적인 형태로 실시될 수 있다는 것을 이해할 수 있을 것이다. 그러므로 이상에서 기술한 실시 예들은 모든 면에서 예시적인 것이며 한정적이 아닌 것으로 이해해야만 한다.Although the embodiments of the present invention have been described above with reference to the accompanying drawings, those skilled in the art to which the present invention pertains may implement the present invention in other specific forms without changing the technical spirit or essential features thereof. You will understand that. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive.
또한, 본 발명은 레이저 신호를 이용해서 주변을 탐색할 때 탐색이 되지 않는 사각지대가 발생하지 않도록 측정밀도를 조절하기 위한 스캐닝 라이다 장치 및 이에 적용되는 방법을 제공하기 위한 것임에 따라, 시판 또는 영업의 가능성이 충분할 뿐만 아니라 현실적으로 명백하게 실시할 수 있는 정도이므로 산업상 이용가능성이 있는 발명이다.In addition, 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.

Claims (13)

  1. 주변공간의 특정영역을 지향해서 레이저 신호를 발진 및 수광하는 레이저부;A laser unit for oscillating and receiving a laser signal toward a specific area of a peripheral space;
    제1 수평면에서 상기 레이저부를 회전하는 제1 회전부;A first rotating part rotating the laser part in a first horizontal plane;
    상기 레이저부 및 상기 제1 회전부가 위치한 상기 제1 수평면과 스캐닝 기준면인 제2 수평면의 각도를 조절하는 위치조절부;A position adjusting unit adjusting an angle between the first horizontal plane on which the laser unit and the first rotating unit are located, and a second horizontal plane which is a scanning reference plane;
    상기 제2 수평면을 형성하며, 상기 제1 회전부의 일측과 상기 위치조절부의 일측을 지지하는 플레이트; 및A plate forming the second horizontal surface and supporting one side of the first rotating part and one side of the position adjusting part; And
    상기 제2 수평면에서 상기 플레이트를 회전하는 제2 회전부를 포함하는 스캐닝 라이다 장치.And a second rotating part for rotating the plate in the second horizontal plane.
  2. 제1 항에 있어서,According to claim 1,
    상기 제1 회전부 및 상기 제2 회전부 중 적어도 하나를 회전 제어하고, 상기 위치조절부를 구동 제어하는 제어부를 더 포함하는 스캐닝 라이다 장치.And a control unit configured to control at least one of the first rotating unit and the second rotating unit, and to control driving of the position adjusting unit.
  3. 제1 항 또는 제2 항에 있어서,The method according to claim 1 or 2,
    상기 위치조절부는 상기 제1 수평면과 상기 제2 수평면이 한 변을 공유해서 접하는 경우, 상기 제1 수평면과 상기 제2 수평면을 교차하는 평면각을 조절하는 스캐닝 라이다 장치.And the position adjusting unit adjusts 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 each other.
  4. 제1 항 또는 제2 항에 있어서,The method according to claim 1 or 2,
    상기 위치조절부는 상기 제1 수평면과 상기 제2 수평면이 적어도 한 점을 공유해서 접하는 경우, 상기 제1 수평면과 상기 제2 수평면의 위치 변화량을 조절하는 스캐닝 라이다 장치.And the position adjusting unit adjusts 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.
  5. 제2 항에 있어서,The method of claim 2,
    상기 제어부는 상기 레이저부의 작동 결과, 상기 회전 제어를 실행한 제어값 및 상기 구동 제어를 실행한 제어값을 취합해서 측정위치 및 측정밀도를 산출하고, 산출된 측정위치 및 측정밀도를 기초로 스캐닝 사각지대를 결정하는 스캐닝 라이다 장치.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, Scanning lidar device to determine the rent.
  6. 제5 항에 있어서,The method of claim 5,
    상기 제어부는 상기 스캐닝 사각지대를 대상으로 상기 회전 제어 및 상기 구동 제어를 하는 스캐닝 라이다 장치.The control unit is a scanning lidar for the rotation control and the drive control for the scanning blind spot.
  7. 제5 항에 있어서,The method of claim 5,
    상기 제어부는 상기 스캐닝 라이다 장치를 장착한 장비의 속성을 토대로 상기 스캐닝 사각지대를 보정하는 스캐닝 라이다 장치.The control unit is a scanning lidar device for correcting the scanning blind spot based on the property of the equipment equipped with the scanning lidar device.
  8. 스캐닝 라이다 장치에서, 주변공간의 특정영역을 지향해서 레이저 신호를 발진 및 수광하는 레이저부의 회전 방향과 대응되는 제1 수평면과 스캐닝 기준면인 제2 수평면의 각도를 조절하는 단계;A scanning lidar apparatus, comprising: adjusting an angle between a first horizontal plane corresponding to a rotation direction of a laser unit for oscillating and receiving a laser signal toward a specific area of a peripheral space, and a second horizontal plane that is a scanning reference plane;
    상기 제1 수평면에서 상기 레이저부를 회전하는 제1 회전부와, 상기 제2 수평면에서 상기 제1 회전부와 상기 각도를 조절하는 위치조절부를 지지하는 플레이트를 회전하는 제2 회전부 중 적어도 하나를 제어하는 단계; 및Controlling at least one of a first rotating part rotating the laser part in the first horizontal plane and a second rotating part rotating a plate supporting the position adjusting part for adjusting the angle and the first rotating part in the second horizontal plane; And
    제어 신호에 따라 상기 제1 회전부 및 상기 제2 회전부 중 적어도 하나를 회전 구동하는 단계를 포함하는 스캐닝 방법.And driving at least one of the first rotating part and the second rotating part in accordance with a control signal.
  9. 제8 항에 있어서,The method of claim 8,
    상기 각도를 조절하는 단계는 상기 제1 수평면과 상기 제2 수평면이 한 변을 공유해서 접하는 경우, 상기 제1 수평면과 상기 제2 수평면을 교차하는 평면각을 조절하는 단계를 포함하는 스캐닝 방법.The adjusting of the angle includes 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 each other.
  10. 제8 항에 있어서,The method of claim 8,
    상기 각도를 조절하는 단계는 상기 제1 수평면과 상기 제2 수평면이 적어도 한 점을 공유해서 접하는 경우, 상기 제1 수평면과 상기 제2 수평면의 위치 변화량을 조절하는 단계를 포함하는 스캐닝 방법.The adjusting of 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.
  11. 제8 항에 있어서,The method of claim 8,
    상기 제1 회전부 및 상기 제2 회전부 중 적어도 하나를 실행한 주변 스캐닝 결과를 기초로 측정위치 및 측정밀도를 산출하고, 산출된 측정위치 및 측정밀도를 이용해서 주변 영역 중에서 스캐닝 사각지대를 결정하는 단계를 더 포함하는 스캐닝 방법.Calculating a measurement position and a measurement density based on a peripheral scanning result of executing at least one of the first rotation unit and the second rotation unit, and determining a scanning blind spot in the peripheral area using the calculated measurement position and measurement density Scanning method further comprising.
  12. 제11 항에 있어서,The method of claim 11, wherein
    상기 스캐닝 사각지대가 스캐닝 대상 영역에 포함되도록 상기 위치조절부의 각도를 조절하고, 상기 제1 회전부 및 상기 제2 회전부 중 적어도 하나를 구동 제어하는 단계를 더 포함하는 스캐닝 방법.And adjusting the 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.
  13. 제11 항에 있어서The method of claim 11,
    상기 스캐닝 라이다 장치를 장착한 장비의 속성을 토대로 상기 스캐닝 사각지대를 보정하는 단계를 더 포함하는 스캐닝 방법.And correcting the scanning blind spots based on attributes of equipment equipped with the scanning lidar device.
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