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WO2017047873A1 - Procédé de balayage utilisant un appareil de balayage à vitesse élevée - Google Patents

Procédé de balayage utilisant un appareil de balayage à vitesse élevée Download PDF

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Publication number
WO2017047873A1
WO2017047873A1 PCT/KR2015/013588 KR2015013588W WO2017047873A1 WO 2017047873 A1 WO2017047873 A1 WO 2017047873A1 KR 2015013588 W KR2015013588 W KR 2015013588W WO 2017047873 A1 WO2017047873 A1 WO 2017047873A1
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WO
WIPO (PCT)
Prior art keywords
scanning
optical scanner
vision sensor
image
pedestal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2015/013588
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English (en)
Korean (ko)
Inventor
정영대
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hanwha Vision Co Ltd
Original Assignee
Hanwha Techwin Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hanwha Techwin Co Ltd filed Critical Hanwha Techwin Co Ltd
Publication of WO2017047873A1 publication Critical patent/WO2017047873A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only

Definitions

  • the present invention relates to a scanning method using a high-speed scanning device, and more specifically, to determine the area to be scanned by the lidar first, the lidar can perform a quick scanning, and further, the vision and the lidar are fixed to each other
  • the present invention relates to a scanning method using a high-speed scanning device capable of performing a faster scanning since a lidar may start scanning immediately after photographing a vision image.
  • Lidar Detection and Ranging is a radar system that measures the position coordinates of an object by shooting a laser pulse and measuring the return time. Lidar is less accurate in object identification, but has been used in a variety of applications, including more precise physical property observations and distance measurements, utilizing its ability to generate high energy density and short period pulse signals.
  • vision is to give a machine visual and judgment functions, and by using an image sensor to capture an image, a system of hardware and software recognizes and judges an object. Since vision converts 3D space into 2D image information, additional sensors or stereo cameras are needed to measure distance, and distance measurement is difficult by itself.
  • FCW forward collision warning system
  • the lidar and the vision operate independently, the distance information is obtained from the lidar, the image information is obtained from the vision, and the recognition and distance measurement of the object are performed by synthesizing and analyzing the respective pieces of information.
  • object recognition and distance measurement are time consuming.
  • the entire rotation around the 360 degree scanning even if only the front of the scanning area included in a certain field of view of the front had a problem that takes a lot of time.
  • the problem to be solved by the present invention is to combine the lidar and the vision to improve both object recognition and distance measurement capabilities, while scanning by using a high-speed scanning device that shortens the scanning time of the lidar by limiting the scan area of the lidar To provide a way.
  • a scanning method using a high speed scanning device including: obtaining an image of a specific area by using a vision sensor; Setting a scan area by extracting a target object from the acquired image; Calculating a rotation angle for performing scanning by limiting the scan area; Rotating the optical scanner to perform the scanning according to the calculated rotation angle; And acquiring distance information of the target object by the optical scanner.
  • lidar and vision improves both object recognition and distance measurement capabilities, while vision recognizes and extracts objects within a given area first, thereby limiting the scan area of the lidar. Scanning time can be shortened.
  • the lidar since the vision and the lidar are fixed and rotated together, the lidar is directed in the same direction as the vision when capturing the corresponding area with the vision, so that the lidar can perform scanning immediately after the vision image is taken without additional rotation of the lidar.
  • the scanning time can be further shortened.
  • FIG. 1 is a block diagram of a scanning method using a high speed scanning apparatus 1 according to an embodiment of the present invention.
  • FIG. 2 is a reference diagram showing the basic principle of the Lidar (LIDAR) of the optical scanner 11 according to an embodiment of the present invention.
  • FIG 3 is a perspective view of a high speed scanning device 1 according to an embodiment of the present invention.
  • FIG. 4 is a flowchart of a scanning method using the high speed scanning apparatus 1 according to an embodiment of the present invention.
  • FIG. 1 is a block diagram of a scanning method using a high speed scanning apparatus 1 according to an embodiment of the present invention.
  • the present invention provides an optical scanner 11 for scanning a target object 2 by irradiating a laser to the target object 2, It is composed of a vision sensor 12 for taking an image and extracting the object 2 from the image, an optical scanner 11 and a pedestal 13 for supporting the vision sensor 12.
  • the optical scanner 11 refers to an apparatus for scanning an object using light, and includes a lidar using a laser.
  • the target object 2 refers to an object for which distance information is to be acquired using the vision sensor 12 and the optical scanner 11.
  • the vision sensor 12 rotates 360 degrees around itself and can take a picture of the surroundings. When the user sets only a certain direction, the vision sensor 12 can also take a picture facing only the corresponding direction.
  • the vision sensor 12 includes an image acquisition unit 121 for capturing a corresponding area to acquire an image, and an image processing unit 122 for processing the obtained image to extract the target object 2. It may further include a calculation unit 123 for calculating the coordinates of (2) and the angle to be scanned by the optical scanner 11, and a communication unit 124 for transmitting the angle value and the control signal.
  • the image acquisition unit 121 acquires a two-dimensional image by capturing a corresponding area by using an image sensor, and may capture a subject such as a general complementary metal oxide semiconductor (CMOS) device or a charge-coupled device (CCD) device. Camera elements can be used.
  • CMOS complementary metal oxide semiconductor
  • CCD charge-coupled device
  • the corresponding area refers to a space in which the target object 2 exists, and generally becomes a three-dimensional space.
  • the image processor 122 first extracts edge information of an image pixel from the obtained image.
  • a gradient formula generally used may be used.
  • the outline of the target object 2 is revealed through the extracted edge information, and the optical scanner 11 determines the scan area to perform scanning based on the outline.
  • the vision sensor 12 may further include a storage unit (not shown) that stores the obtained image or various data.
  • data about contour information may be stored in advance in the storage unit (not shown), and the identity of the target object 2 may be recognized and determined by matching the obtained contour information.
  • SIFT Scale Invariant Feature Transform
  • SURF Speeded Up Robust Features
  • the calculating unit 123 calculates an angle value that the optical scanner 11 rotates to scan the determined scan area. Since the rotation of the optical scanner 11 pans and tilts about the x and y axes, the angle value requires at least two angles of the pan and tilt. The angle value calculation is performed based on the determined position coordinates of the scan area and the horizontal and vertical lengths of the area. As will be described below, the optical scanner 11 and the vision sensor 12 are fixed and coupled to be constrained to operate with each other. In this case, since the optical scanner 11 and the vision sensor 12 rotate together, the optical scanner 11 also faces the same direction as the vision sensor 12 when photographing the corresponding area with the vision sensor 12.
  • the optical scanner 11 may perform scanning immediately without rotating toward the corresponding area, thereby further reducing the scanning time.
  • the reference value of the initial value when calculating the angle value by the calculator 123 becomes the center of the image captured by the vision sensor 12.
  • the communication unit 124 transmits a command signal and the angle value to the pedestal 13 so that the pedestal 13 rotates corresponding to the angle value, and the optical scanner 11 transmits a command signal to the optical scanner 11 to start scanning. Send the command signal.
  • the pedestal 13 supports the optical scanner 11 and the vision sensor 12, and includes a motor 131 to rotate the optical scanner 11 and the vision sensor 12 in various directions. Do it.
  • the pedestal 13 may be coupled to the optical scanner 11 or the vision sensor 12 while being fixed to the floor, but is not limited thereto and may have various coupling forms.
  • FIG. 2 is a reference diagram showing the basic principle of the LIDAR among the optical scanner 11 according to an embodiment of the present invention.
  • Lider is configured in various ways depending on the field, but the basic configuration is a laser transmitter 111 for transmitting a laser to the area to be generated by scanning the laser, as shown in Figure 2, the transmitted reflected back Lens 114 for adjusting the direction of travel by refracting the laser transmitted and received by the laser detector 112 for detecting the laser, the control unit 113 for transmitting and receiving signals and data, the laser transmitter 111 and the laser detector 112 It is composed of
  • Lidar can be classified into a time-of-flight (TOF) method and a phase-shift method according to a modulation method of a laser signal.
  • TOF time-of-flight
  • the laser transmitter 111 emits a laser pulse signal to measure the time when the reflected pulse signals from the objects 2 within the measurement range arrive at the laser detector 112. It is a way to calculate the distance.
  • the phase-shift method calculates time and distance by measuring the amount of phase change of a signal reflected back from an object 2 within a measurement range by emitting a laser beam that is continuously modulated at a specific frequency.
  • the laser light source may have a specific wavelength or vary in wavelength in the wavelength range of 250 nm to 11 ⁇ m. Recently, a small size, low power semiconductor laser diode is used.
  • the wavelength of the laser has a direct influence on the permeability and eye protection of the atmosphere, cloud, and rain, so the choice of wavelength is important according to the field of use.
  • the laser sensitivity, wavelength, spectral characteristics, pulse width and shape, as well as the receiver sensitivity and dynamic range, and the characteristics of the optical filter and the lens 114 are also important factors in determining the performance of the optical scanner 11. to be.
  • the field of view (FOV) indicating the measurement angle of the receiver, the field stop for selecting the measurement range, and the FOV overlap characteristics of the laser beam and the receiver are also important factors.
  • the existing lidar technologies have been mainly studied for the purpose of weather observation and distance measurement. Recently, techniques for meteorological observation, unmanned robot sensor and 3D image modeling on satellites have been studied.
  • FIG 3 is a perspective view of a high speed scanning device 1 according to an embodiment of the present invention.
  • the vision sensor 12 and the optical scanner 11 are coupled side by side.
  • the coupling form is not limited and may be combined in various forms, according to one embodiment of the present invention, the vision sensor 12 and the vision sensor 12 may be supported by a single pedestal 13 while having a more compact configuration.
  • the optical scanner 11 is positioned and coupled up and down. Any one of the vision sensor 12 and the optical scanner 11 may be positioned above or below, but according to one embodiment of the present invention, the optical scanner 11 is located below and coupled to the vision sensor 12.
  • the pedestal 13 is coupled to the optical scanner 11 to rotate the optical scanner 11.
  • the vision sensor 12 and the optical scanner 11 are coupled such that the lens of the vision sensor 12 and the lens of the laser transmitter 111 are close to each other.
  • the two axes connecting the center and focus of each of the lens of the vision sensor 12 and the lens of the laser transmitter 111 are parallel to each other, such that the vision sensor 12 and the optical scanner 11 are parallel to each other. Face the same direction.
  • the optical scanner 11 and the vision sensor 12 are fixedly coupled to be constrained to operate with each other, and the optical scanner 11 and the vision sensor 12 may be integrally manufactured.
  • the optical scanner 11 since the optical scanner 11 and the vision sensor 12 rotate together, the optical scanner 11 also rotates together with the vision sensor 12 when the vision sensor 12 rotates to capture a corresponding area. It faces in the same direction as (12). Therefore, when the vision sensor 12 finishes capturing an image of the corresponding area, the optical scanner 11 can scan directly without rotating toward the corresponding area, thereby further reducing the scanning time.
  • the reference when the angle is calculated by the calculator 123 becomes the center of the image captured by the vision sensor 12. It is assumed that the distance d1 is very small compared to the distance d2 from the lens of the laser transmitter 111 to the target object 2 when calculating the angle value.
  • the fixed coupling of the optical scanner 11 and the vision sensor 12 here means that the optical scanner 11 and the vision sensor 12 are not easily separated from each other, as well as the optical scanner 11 and the vision sensor 12. ) Do not rotate or move independently of one another.
  • the high speed scanning device 1 includes a pedestal 13 that supports the optical scanner 11 and the vision sensor 12 to perform functions in various directions while rotating.
  • the optical scanner 11 and the vision sensor 12 must have at least two degrees of freedom in order to rotate and perform functions.
  • the pedestal 13 has at least two motors 131 such that the optical scanner 11 pans and tilts about at least two axes, as shown in FIG. It is installed on the pedestal 13 to be orthogonal to each other.
  • the pedestal 13 is fixed to the floor, and connecting portions formed on both sides of the optical scanner 11 and both sides of the pedestal 13 are connected to each other, thereby allowing the optical scanner 11 to be attached to the pedestal ( 13) can be rotatably supported.
  • Such rotational movements include yaw-direction rotations representing relative rotational movements between the top and bottom of the pedestal 13, and pitch-direction rotations in which the optical scanner 11 shows relative rotational movements relative to the connecting portion of the pedestal 13.
  • FIG. 4 is a flowchart of a scanning method using the high speed scanning apparatus 1 according to an embodiment of the present invention.
  • the vision sensor 12 first photographs the corresponding area (S401). As described above, the vision sensor 12 may rotate around 360 degrees to take a picture of the surrounding image, but when the user sets only a certain direction, the vision sensor 12 may take a picture facing only the corresponding direction.
  • the image acquisition unit 121 acquires an image of the corresponding region (S402)
  • the image processing unit 122 determines whether the target object 2 exists in the image (S403). If the edge information is not extracted from the image, the target object 2 does not exist. In this case, the optical scanner 11 does not perform scanning and the vision sensor 12 photographs another area and repeats the above steps. .
  • the image processor 122 extracts the target object 2 (S404).
  • the position of the extracted target object 2 is set as a scan area, and the calculating unit 123 determines an angle value at which the optical scanner 11 is to be rotated based on the position coordinates of the target object 2 and the length and width of the object 2. Compute (S405).
  • the initial value is determined based on the center of the image when calculating the angle value.
  • the pedestal 13 receives the angle value through the communication unit 124, rotates corresponding to the angle value, and the optical scanner 11 scans toward the target object 2 (S406).
  • distance information of the target object 2 is obtained (S407). If there are a plurality of target objects 2, the steps of S404, S405, S406, and S407 described above are repeated in order for each target object 2, respectively. At this time, the initial value in the calculation of the angle value is determined based on the scan area of the previous target object (2).
  • the optical scanner 11 since the optical scanner 11 first determines the area to be scanned by the vision sensor 12, the optical scanner 11 can perform a quick scanning, and furthermore, the vision sensor 12 and the optical scanner 11 Are fixed to each other, so that the optical scanner 11 may start scanning immediately after the image of the vision sensor 12 is taken, so that the distance information of the target object 2 may be quickly obtained by performing a faster scanning.

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

Abstract

L'invention concerne un procédé de balayage utilisant un appareil de balayage à vitesse élevée qui, selon un mode de réalisation, comprend les étapes consistant à : acquérir une image d'une zone particulière au moyen d'un capteur de vision ; extraire un objet de l'image acquise et paramétrer une zone de balayage ; calculer un angle de rotation pour réaliser un balayage à l'intérieur de la limite de la zone de balayage ; faire tourner un dispositif de balayage de lumière, qui est destiné à effectuer le balayage, en fonction de l'angle de rotation calculé ; et acquérir des informations de distance de l'objet au moyen du dispositif de balayage de lumière. D'autres détails de la présente invention sont inclus dans la description détaillée et les figures.
PCT/KR2015/013588 2015-09-14 2015-12-11 Procédé de balayage utilisant un appareil de balayage à vitesse élevée Ceased WO2017047873A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2015-0129446 2015-09-14
KR1020150129446A KR20170031901A (ko) 2015-09-14 2015-09-14 고속 스캐닝 장치를 이용한 스캐닝 방법

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Cited By (1)

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CN109254300A (zh) * 2017-07-13 2019-01-22 德克萨斯仪器股份有限公司 用于光学测距系统的发射信号设计

Families Citing this family (3)

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Publication number Priority date Publication date Assignee Title
CN108549087B (zh) * 2018-04-16 2021-10-08 北京瑞途科技有限公司 一种基于激光雷达的在线检测方法
CN108919288A (zh) * 2018-06-27 2018-11-30 长航集团芜湖江东船厂有限公司 激光测距装置
KR102290609B1 (ko) * 2019-11-19 2021-08-19 한국생산기술연구원 레이저 스캐닝 비전 측정 장치 및 방법

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KR102051397B1 (ko) 2012-07-02 2020-01-09 현대모비스 주식회사 안전운전 지원 장치 및 방법

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KR20010047042A (ko) * 1999-11-17 2001-06-15 장인순 영상장치를 이용한 주사 라이다 장치용 원격구동제어방법및 그 장치
US20120008129A1 (en) * 2007-11-07 2012-01-12 Magna Electronics, Inc. Object detection system
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KR20100129410A (ko) * 2009-06-01 2010-12-09 한국과학기술원 레이저스캐너와 비디오카메라간 물리적 편의 보정장치 및 방법과, 물리적편의보정치 측정장치 및 방법
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109254300A (zh) * 2017-07-13 2019-01-22 德克萨斯仪器股份有限公司 用于光学测距系统的发射信号设计

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