WO2017119537A1 - Aerial vehicle including ladar system - Google Patents

Abstract

An aspect of present invention provides an aerial vehicle comprising: a body to which a flight device is installed; a main rotation shaft rotatably installed to the body; a main rotation shaft driving part rotating the main rotation shaft; at least one ladar sensor installation part installed to the main rotation shaft and rotating with the main rotation shaft; a plurality of ladar sensor devices moveably installed to the ladar sensor installation part, each ladar sensor device having a laser irradiating part and a laser receiving part; an irradiation angle changing part for changing an irradiation angle of the ladar sensor device; and an irradiation angle control part for controlling the irradiation angle changing part.

Description

Aircraft Including Lidar System

The present invention relates to a vehicle comprising a lidar system.

Recently, a laser radar device (LIDA, LADAR) is widely used to detect surrounding terrain or objects in automobiles or mobile robots.

Such a lidar device is a device that can scan surrounding objects or terrain by irradiating laser light to the surrounding area and using the reflected light reflected back to the surrounding objects or terrain.

In the lidar apparatus, a scan ladar for scanning while rotating at 360 degrees is widely applied, and US Patent No. 7,880,643 discloses a technology in which a sensor detects a moving object by irradiating a laser on a sensor plane.

According to an aspect of the present invention, a main object of the present invention is to provide a vehicle including a lidar system capable of performing laser scanning by emitting a laser at various irradiation angles.

According to an aspect of the invention, the main body is installed with a flying device; and the main rotary shaft is installed on the main body to enable rotation; and the main rotary shaft drive unit for rotating the main rotary shaft; and is installed on the main rotary shaft, At least one lidar sensor installation unit rotating together with the main rotary shaft; and a plurality of lidar sensor devices installed to be movable to the lidar sensor installation unit, each having a laser irradiation unit and a laser light receiving unit; It provides a vehicle comprising a irradiation angle changing unit for changing the irradiation angle of the sensor device; and an irradiation angle control unit for controlling the irradiation angle changing unit.

In addition, according to another aspect of the invention, the main body is installed with a flying device; and the main rotary shaft is installed on the main body to enable rotation; and the main rotary shaft drive unit for rotating the main rotary shaft; and is installed on the main rotary shaft At least one lidar sensor installation unit rotating together with the main rotation shaft; and a plurality of lidar sensor devices installed to be movable to the lidar sensor installation unit, each of which includes a laser irradiation unit and a laser light receiving unit. An irradiation angle changing unit for changing an irradiation angle of a lidar sensor device; an altitude measuring unit measuring flight altitude; and an irradiation angle control unit controlling the irradiation angle changing unit according to the altitude measured by the altitude measuring unit; Provides a flying vehicle.

The aircraft including the lidar system according to an aspect of the present invention, since the laser can be performed by emitting a laser at various irradiation angles, there is an effect that can perform laser scanning with high precision.

1 is a schematic front view showing the appearance of a vehicle including a lidar system according to a first embodiment of the present invention.

Fig. 2 is a schematic diagram showing the main parts of a lidar system according to the first embodiment of the present invention.

3A and 3B are schematic views showing a state in which the irradiation angle of the lidar system according to the first embodiment of the present invention is changed.

FIG. 4A is a schematic diagram illustrating scanning a first area of the ground with the LiDAR system when the vehicle is at a first altitude according to the first embodiment of the present invention.

FIG. 4B is a schematic diagram illustrating scanning a second area of the ground with the LiDAR system when the vehicle is in the first altitude according to the first embodiment of the present invention.

FIG. 4C is a schematic diagram illustrating scanning a first area of the ground with the LiDAR system when the vehicle according to the first embodiment of the present invention is at a second altitude. FIG.

5 is a schematic front view showing a state of a vehicle including a lidar system according to a second embodiment of the present invention.

Fig. 6 is a schematic diagram showing the main parts of a lidar system according to the second embodiment of the present invention.

7A and 7B are schematic views illustrating a change in irradiation angle of a LiDAR system according to a second exemplary embodiment of the present invention, one for each of the first, second, and third LiDAR sensor installation units. Is a view showing a state in which a lidar sensor device is installed.

8A and 8B are schematic plan views showing how the irradiation angle of the LiDAR system according to the second embodiment of the present invention is changed.

FIG. 9A is a schematic diagram illustrating scanning a first area, a second area, and a third area of the ground with the LiDAR system when the vehicle according to the second embodiment of the present invention is at a first altitude. FIG.

FIG. 9B is a schematic diagram illustrating scanning a fourth area, a fifth area, and a sixth area on the ground with the lidar system when the vehicle according to the second embodiment of the present invention is in the first altitude.

FIG. 9C is a schematic diagram illustrating scanning a first area, a second area, and a third area of the ground with the LiDAR system when the vehicle according to the second embodiment of the present invention is at a second altitude. FIG.

According to an aspect of the invention, the main body is installed with a flying device; and the main rotary shaft is installed on the main body to enable rotation; and the main rotary shaft drive unit for rotating the main rotary shaft; and is installed on the main rotary shaft, At least one lidar sensor installation unit rotating together with the main rotary shaft; and a plurality of lidar sensor devices installed to be movable to the lidar sensor installation unit, each having a laser irradiation unit and a laser light receiving unit; It provides a vehicle comprising a irradiation angle changing unit for changing the irradiation angle of the sensor device; and an irradiation angle control unit for controlling the irradiation angle changing unit.

Here, the flying device may include at least one rotor blade and a rotor driving device for driving the rotor blade.

Here, the main rotation axis may have a hollow shape.

Here, a support shaft may be installed on the main body, and the main rotation shaft may be installed on the support shaft to be rotatable.

Here, the main shaft drive unit may include a main shaft drive motor.

Here, the altitude measurement unit for measuring the flight altitude of the vehicle may further include.

Here, the irradiation angle controller may control the irradiation angle changing unit according to the altitude measured by the altitude measuring unit.

Here, the irradiation angle controller may control the irradiation angle changing unit so that the irradiation area of the lidar sensor device does not change even when the flight altitude of the vehicle is changed.

Here, the irradiation angle changing unit, a moving cylinder which is installed to move along the axial direction of the main rotation axis; and a moving cylinder drive unit for moving the moving cylinder; and connecting the moving cylinder and each lidar sensor device A plurality of first connection portion; may include, the irradiation angle of the lidar sensor device may be changed as the moving cylinder moves.

Here, the moving cylinder and the respective lidar sensor device may be connected to the first connection portion by a hinge device.

Here, the irradiation angle changing unit, a rotating cylinder which is rotatably installed on the main rotating shaft; a rotating cylinder drive unit for rotating the rotating cylinder; and a plurality of agents for connecting the rotary cylinder and each lidar sensor device It may include; 2, the irradiation angle of the lidar sensor device may be changed as the rotating cylinder moves.

Here, the rotary cylinder and each lidar sensor device may be connected to the second connection portion by a ball joint device.

Here, the lidar sensor installation unit may be provided in plurality in the axial direction of the main rotation axis.

In addition, according to another aspect of the invention, the main body is installed with a flying device; and the main rotary shaft is installed on the main body to enable rotation; and the main rotary shaft drive unit for rotating the main rotary shaft; and is installed on the main rotary shaft At least one lidar sensor installation unit rotating together with the main rotation shaft; and a plurality of lidar sensor devices installed to be movable to the lidar sensor installation unit, each of which includes a laser irradiation unit and a laser light receiving unit. An irradiation angle changing unit for changing an irradiation angle of a lidar sensor device; an altitude measuring unit measuring flight altitude; and an irradiation angle control unit controlling the irradiation angle changing unit according to the altitude measured by the altitude measuring unit; Provides a flying vehicle.

Here, the irradiation angle controller may control the irradiation angle changing unit so that the irradiation area of the lidar sensor device does not change even when the flight altitude of the vehicle is changed.

Here, the irradiation angle changing unit, a moving cylinder which is installed to move along the axial direction of the main rotation axis; and a moving cylinder drive unit for moving the moving cylinder; and connecting the moving cylinder and each lidar sensor device A plurality of first connection portion; may include, the irradiation angle of the lidar sensor device may be changed as the moving cylinder moves.

Here, the moving cylinder and the respective lidar sensor device may be connected to the first connection portion by a hinge device.

Here, the irradiation angle changing unit, a rotating cylinder which is rotatably installed on the main rotating shaft; a rotating cylinder drive unit for rotating the rotating cylinder; and a plurality of agents for connecting the rotary cylinder and each lidar sensor device It may include; 2, the irradiation angle of the lidar sensor device may be changed as the rotating cylinder moves.

Here, the rotary cylinder and each lidar sensor device may be connected to the second connection portion by a ball joint device.

Here, the lidar sensor installation unit may be provided in plurality in the axial direction of the main rotation axis.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, in this specification and drawing, duplication description is abbreviate | omitted by using the same code | symbol about the component which has substantially the same structure.

1 is a schematic front view showing a state of a vehicle including a lidar system according to a first embodiment of the present invention, and FIG. 2 is a schematic view showing main parts of a lidar system according to a first embodiment of the present invention. Drawing. 3A and 3B are schematic views showing a state in which the irradiation angle of the lidar system according to the first embodiment of the present invention is changed.

The vehicle 1 according to the first embodiment may be applied to any type of manned or unmanned aircraft. That is, the aircraft according to the present invention can be applied to various aircraft such as manned planes, unmanned planes, manned helicopters, unmanned helicopters, drones, without limitation.

As shown in FIGS. 1 and 2, the vehicle 1 includes a main body 11, a flight device 12, and a lidar system 100.

The main body 11 is a place where a power source 11a, such as a battery of the aircraft 1, a communication device 11b, a main control device 11c, or the like is installed, and includes a frame, a cover, and the like. Here, the main controller 11c not only controls each part of the vehicle 1 and the lidar system 100, but also receives and outputs a lidar signal measured by the lidar system 100 to process an image. Programs, chips, and the like.

In the first exemplary embodiment, the main controller 11c controls the lidar system 100 and receives a lidar signal measured by the lidar system 100 to process an image. As assumed, the present invention is not limited thereto. That is, according to the present invention, the system control apparatus and the image processing apparatus may be provided in the lidar system 100 itself, in which case the lidar system 100 itself not only performs the laser scanning control itself, but also the lidar image. Processing can also be performed.

The flight device 12 is installed in the main body 11 as a device that enables the flight of the aircraft 1.

The flight device 12 according to the first embodiment includes a rotor blade 12a and a rotor drive device 12b for rotating and driving the rotor blade 12a.

The rotor blade 12a may use a single rotor blade, but may also use a plurality of rotor blades.

A motor is used as the rotor driving device 12b, and various motors may be used as a step motor, a servo motor, a general direct current motor, an AC motor, and the like.

As the flying device 12 according to the first embodiment, a drive motor is used as the rotor blade 12a and the rotor driving device 12b, but the present invention is not limited thereto. That is, a flying device using a rotor blade is not used as the flying device according to the present invention, and various known flying devices such as a fluid propulsion device, a jet propulsion device, and a thermal device may be used.

Lidar system 100 is a device capable of performing laser scanning, the main rotary shaft 110, the main rotary shaft drive unit 120, the lidar sensor installation unit 130, the lidar sensor device 140, the irradiation angle change The unit 150, the irradiation angle controller 160, and the altitude measuring unit 170 are included.

The main rotating shaft 110 is installed in the main body 11, and is installed using the bearing 11d to enable rotation in the main body 11.

A first gear 111 for rotating the main rotating shaft 110 is installed at the outer circumference of the main rotating shaft 110. The first gear 111 has the shape of a spur gear.

The main rotary shaft 110 according to the first embodiment has a circular pillar shape, but the present invention is not limited thereto. That is, the main rotating shaft according to the present invention may have a hollow cylindrical shape, in which case the cable for transmitting power and signal may be located in the hollow portion.

The main rotary shaft driver 120 rotates the main rotary shaft 110, and includes a main rotary shaft driving motor 121 and a second gear 122.

The main rotary shaft drive motor 121 may be variously applied to a step motor, a servo motor, a general DC motor, an AC motor, and the like.

The main rotary shaft drive motor 121 according to the first embodiment is made of a geared motor, but the present invention is not limited thereto. That is, according to the present invention, a motor without a built-in gear may be used as the main shaft drive motor 121, and in this case, an additional gear device may be installed between the shaft drive motor 121 and the second gear 122. .

The second gear 122 is configured to have a shape of a spur gear so as to mesh with the first gear 111, and transmits the power generated by the main rotating shaft drive motor 121 to the first gear 111, thereby maintaining the main rotating shaft. Rotate 110.

The first gear 111 and the second gear 122 according to the first embodiment are composed of spur gears, but according to the present invention, the shape, form, etc. of the first gear 111 and the second gear 122 are not included. There is no special limitation. That is, the shapes of the first gear 111 and the second gear 122 need only be able to transfer power from the second gear 122 to the first gear 111, for example, the first gear 111. The second gear 122 may be configured in various shapes such as spur gears and helical gears.

The lidar sensor installation unit 130 is installed on the main rotating shaft 110, the lidar sensor installation unit 130 is a lidar sensor device 140 is installed.

The lidar sensor installation unit 130 has a circular ring shape and is fixed to the main rotation shaft 110 by an extension support (not shown), thereby rotating together with the main rotation shaft 110.

According to the first embodiment, the lidar sensor installation unit 130 has a ring shape, but the present invention is not limited thereto. That is, the shape of the lidar sensor mounting portion according to the present invention is not particularly limited. For example, the lidar sensor installation unit according to the present invention may have a variety of shapes, such as a disk shape, elliptical shape, cylinder shape, polygonal ring shape.

According to the first embodiment, a single lidar sensor installation unit 130 is installed on the main rotation shaft 110, but the present invention is not limited thereto. That is, according to the present invention, a plurality of lidar sensor installation units may be installed along the axial direction of the main rotation shaft 110.

The plurality of lidar sensor devices 140 may be installed to move to the lidar sensor installation unit 130. That is, the lidar sensor devices 140 are disposed in a circle at a predetermined interval along the circumference of the lidar sensor installation unit 130, and each of the lidar sensor devices 140 may be rotated up and down by a first hinge device. It is installed at the lidar sensor installation unit 130 at 140a.

 According to the first embodiment, the first hinge device 140a is applied to the connection between the lidar sensor device 140 and the lidar sensor installation unit 130, but the present invention is not limited thereto. That is, according to the present invention, the connection between the lidar sensor device 140 and the lidar sensor installation unit 130 is such that the lidar sensor device 140 may rotate up and down with respect to the lidar sensor installation unit 130. As long as it is a structure which can be used, there are no other special restrictions. For example, instead of the first hinge device 140a, various connection methods, such as a ball-socket connection part and a plastic connection part using flexibility of the plastic itself, may be used.

 The lidar sensor device 140 is comprised so that the laser irradiation part LP, the laser light receiving part LR, and the connector part C may be included. That is, the laser irradiation part LP and the laser light receiving part LR are paired to manufacture one laser module.

The laser irradiation part LP performs a function of irradiating the laser light generated by the laser oscillation part (not shown) to the periphery. As the laser oscillation unit (not shown) according to the first embodiment, a laser oscillation apparatus generally used in a lidar apparatus may be used.

The laser light receiver LR receives a laser light reflected from the surroundings and returns. As the laser receiving apparatus applied to the laser receiving unit LR according to the first embodiment, a laser receiving apparatus generally used in a lidar apparatus may be used.

The connector part C performs a function of electrically connecting the laser irradiation part LP and the laser light receiving part LR with the main control device 11c of the main body 11. According to the first embodiment, the connector part C C) is configured to include a wireless transceiver to exchange signals wirelessly with the main control device 11c of the main body (11).

The connector part C according to the first embodiment includes a wireless transceiver, and receives and receives signals from the main controller 11c of the main body 11 wirelessly, and is controlled by the main controller 11c. The present invention is not limited to this. That is, the connector part C according to the present invention may not include a wireless transceiver. In this case, signal transmission between the lidar sensor device 140 and the main control device 11c is performed by wire, and a slip ring (not shown) may be installed on the main rotating shaft part 110 for wired signal transmission.

On the other hand, the irradiation angle changing unit 150 changes the irradiation angle of the lidar sensor device 140. The irradiation angle may be understood as a concept of an angle of view of the lidar sensor device 140.

The irradiation angle changing part 150 includes a moving cylinder 151, a moving cylinder driving part 152, and a first connecting part 153.

The moving cylinder 151 is installed to move along the axial direction of the main rotating shaft 110. To this end, the moving cylinder 151 has a hollow structure, and the main rotating shaft 110 is fitted into the inner hole of the moving cylinder 151 so as to be slidable.

A rack gear 151a is formed on the outer circumference of the moving cylinder 151.

The moving cylinder driver 152 moves the moving cylinder 151. To this end, the moving cylinder drive unit 152 includes a pinion gear 152a, a moving cylinder drive motor 152b, and a motor support unit 152c.

The pinion gear 152a meshes with the rack gear 151a to transmit power generated by the moving cylinder drive motor 152b.

The moving cylinder driving motor 152b may be variously applied to a step motor, a servo motor, a general direct current motor, an alternating current motor, and the like.

The moving cylinder drive motor 152b according to the first embodiment is made of a geared motor, but the present invention is not limited thereto. That is, according to the present invention, a motor having no built-in gear may be used as the moving cylinder driving motor 152b, and in this case, an additional gear device may be installed between the moving cylinder driving motor 152b and the pinion gear 152a. .

The motor support part 152c supports the moving cylinder drive motor 152b to the main rotating shaft 110.

The moving cylinder drive unit 152 according to the first embodiment moves the moving cylinder 151 using the pinion gear 152a and the moving cylinder drive motor 152b, but the present invention is not limited thereto. That is, according to the present invention, if the moving cylinder 151 can be moved, the configuration of the moving cylinder driving unit 152 is not particularly limited. For example, the moving cylinder drive may use various linear actuators such as a pneumatic cylinder, a hydraulic cylinder, an ultrasonic actuator, and in this case, move the moving cylinder 151 directly with the linear actuator. In addition, the moving cylinder drive unit may use various gear devices, link devices, and cam devices other than the rack-pinion gear device.

The first connection part 153 connects the moving cylinder 151 and each lidar sensor device 140 to change the irradiation angle of the lidar sensor device 140 according to the movement of the moving cylinder 151. That is, the first connector 153 converts the linear motion of the moving cylinder 151 into the rotational motion of the lidar sensor device 140.

The second hinge device 153a is applied to the connection portion between the first connection portion 153 and the moving cylinder 151 and the connection portion between the first connection portion 153 and the lidar sensor device 140, and is configured to be rotatable.

 According to the first embodiment, the second hinge device 153a is applied to connect the first connection part 153 to the moving cylinder 151 and the lidar sensor device 140, but the present invention is not limited thereto. That is, according to the present invention, in the structure in which the first connecting portion 153 is connected to the moving cylinder 151 and the lidar sensor device 140, the first connecting portion 153 performs a linear motion of the moving cylinder 151. What is necessary is just a structure which can be converted into the rotational motion of the sensor apparatus 140, and there are no other special restrictions. For example, instead of the second hinge device 153a, various connection methods, such as a ball-socket connection part and a plastic connection part using flexibility of the plastic itself, may be used as the connection method of the first connection part 153.

3A and 3B, a configuration of changing the irradiation angle of the lidar system 100 using the irradiation angle changing unit 150 of the first embodiment will be described.

As shown in FIG. 3A, when the moving cylinder 151 moves upward, the first connecting portion 153 connected to the moving cylinder 151 pulls the lidar sensor device 140, and if so, the lidar The sensor device 140 is rotated at a predetermined angle in an upward direction about the first hinge device 140a. When the lidar sensor device 140 rotates upward, the irradiation angle of the lidar sensor device 140 changes accordingly. In the first embodiment, the lidar sensor device 140 is the lidar sensor installation unit 130. ), The irradiation area of the lidar system 100 is widened.

Meanwhile, as shown in FIG. 3B, when the moving cylinder 151 moves downward, the first connecting portion 153 connected to the moving cylinder 151 pushes the lidar sensor device 140. The lidar sensor device 140 is rotated at a predetermined angle in the downward direction with respect to the first hinge device 140a. When the lidar sensor device 140 rotates downward, the irradiation angle of the lidar sensor device 140 changes accordingly. In the first embodiment, the lidar sensor device 140 is the lidar sensor installation unit 130. ), The irradiation area of the lidar system 100 becomes narrow as a whole.

As shown in FIG. 1, the irradiation angle controller 160 is installed in the main body 11, and the irradiation angle controller 160 controls the irradiation angle changing unit 150 to irradiate the lidar sensor device 140. To control the angle.

The irradiation angle controller 160 may be implemented in various forms such as a circuit board, an integrated circuit chip, a series of computer programs, firmware, and software mounted on hardware.

According to the first embodiment, the irradiation angle control unit 160 is installed in the main body 11 and is installed separately from the main control device 11c, but the present invention is not limited thereto. According to the present invention, the irradiation angle controller 160 may be installed at another part of the vehicle 1 in addition to the main body 11. For example, the irradiation angle controller 160 may be installed in the main rotation shaft 110, the lidar sensor installation unit 130, or the like. In addition, the irradiation angle controller 160 may be configured to be included in the main control device 11c of the main body 11, in which case the irradiation angle controller 160 may be formed in various forms such as a chip, a circuit board, and a computer program. It can be implemented as.

In addition, the irradiation angle controller 160 may control the irradiation angle changing unit 150 according to the altitude value measured by the altitude measuring unit 170. For example, the irradiation angle controller 160 may control the irradiation angle changing unit 150 so that the irradiation area of the lidar sensor device 140 does not change even when the flying altitude of the vehicle 1 is changed. Will be described later.

On the other hand, the altitude measuring unit 170 measures the flight altitude of the vehicle (1). The altitude measuring unit 170 may be a known altitude measuring device. That is, the altitude measuring unit 170 only needs to measure altitude, and there are no other special restrictions. For example, various devices such as an altitude measuring device using a GPS signal, a radar signal, an altitude sensor using an air pressure value, and an altitude measuring device using a laser distance measuring signal may be applied to the device used in the altitude measuring unit 170. .

Hereinafter, with reference to FIGS. 4A to 4C, the operation of the vehicle 1 according to the first embodiment will be described. FIG. 4A is a schematic view showing scanning the first area S1 of the ground with the Lidar system 100 when the vehicle 1 according to the first embodiment of the present invention is at the first altitude H1. Drawing. FIG. 4B is a schematic view showing scanning the second area S2 on the ground with the Lidar system 100 when the vehicle 1 according to the first embodiment of the present invention is at the first altitude H1. 4C shows the scanning of the first area S1 on the ground with the lidar system 100 when the vehicle 1 according to the first embodiment of the present invention is at the second altitude H2. One schematic diagram.

When the user prepares the vehicle 1 and drives the flight device 12, the rotor blade 12a rotates and lift is generated by receiving power from the rotor drive device 12b so that the vehicle 1 can fly. To get started.

 When the vehicle 1 starts to fly, the user operates the lidar system 100 manually or automatically by a preset program.

When the lidar system 100 operates, the main shaft drive unit 120 operates. When the main rotary shaft drive unit 120 operates, the main rotary shaft 110 and the lidar sensor installation unit 130 rotates together.

When the rider sensor installation unit 130 rotates, the rider sensor device 140 also rotates around the main rotary shaft 110.

 At this time, when the main controller 11c operates the laser oscillation unit (not shown) of the lidar sensor device 140, the laser light is emitted from each laser irradiation unit LP so as to be downward in the lidar system 100. Will be investigated. The laser light irradiated in the downward direction is reflected back to the object, the terrain, and the like to return to the lidar system 100. The laser light reflected from the surrounding area is returned to the laser light receiver LR. The laser light receiver LR detects the returned laser light and transmits the data to the main controller 11c.

The main controller 11c may obtain information on surrounding objects, terrain, and the like by analyzing data on the received laser light. More specifically, the acquired data can be used to extract the distance to the object, direction, speed, temperature, material distribution, concentration characteristics, and the like, and to implement 2D and 3D images as necessary. . In this case, as shown in FIG. 4A, when the aircraft 1 is at the first altitude H1, the first area S1 of the ground may be scanned by the rider system 100. have.

On the other hand, if the user wants to widen the laser scanning area of the lidar system 100 when the vehicle 1 is at the first altitude H1, the main controller 11c issues a command to the irradiation angle controller 160. The irradiation angle change unit 150 is controlled. That is, the irradiation angle changing unit 150 operates the moving cylinder drive motor 152b to move the moving cylinder 151 upward as shown in FIG. 3A. In this case, the lidar sensor device 140 is rotated at a predetermined angle in the upward direction about the first hinge device 140a by the first connection part 153 connected to the moving cylinder 151. When the rider sensor device 140 rotates in the upward direction, the irradiation area of the lidar system 100 becomes wider so that the scanning area of the lidar system 100 also becomes wider. That is, as shown in FIG. 4B, the scanning area of the lidar system 100 is extended to the second area S2.

On the other hand, the user can select the "irradiation area fixed mode" such that the irradiation area of the lidar sensor device 140 does not change even if the flight altitude of the vehicle 1 changes among the operation modes of the lidar system 100. That is, in such a "irradiation area fixed mode," the irradiation angle changing unit 150 can be automatically controlled so that the irradiation area of the lidar system 100 does not change even if the flight altitude of the vehicle 1 changes. That is, when the altitude measuring unit 170 measures the flight altitude of the vehicle 1 and sends the measured altitude value to the irradiation angle controller 160, the irradiation angle controller 160 performs calculation according to a pre-programmed program. The irradiation angle changing unit 150 is controlled so that the irradiation area of the lidar sensor device 140 is not changed.

For example, as shown in FIG. 4C, when the flying area fixed mode is set, when the flying altitude of the vehicle 1 increases from the first altitude H1 to the second altitude H2, the irradiation angle The controller 160 controls the irradiation angle changing unit 150 by performing calculation based on the altitude value sent from the altitude measuring unit 170. That is, the irradiation angle changing unit 150 operates the moving cylinder drive motor 152b to move the moving cylinder 151 downward as shown in FIG. 3B. In this case, the lidar sensor device 140 is rotated at a predetermined angle in the downward direction about the first hinge device 140a by the first connection part 153 connected to the moving cylinder 151. When the rider sensor device 140 rotates downward, the irradiation area of the lidar system 100 is narrowed, and the laser scanning area of the lidar system 100 is also narrowed. That is, in general, the higher the altitude, the wider the laser scanning area becomes. In the "irradiation area fixed mode" of the lidar system 100 of the first embodiment, even if the altitude of the vehicle 1 becomes high, the lidar system 100 The scanning area of is fixed to the first area S1.

In addition, in the case of the "irradiation area fixed mode", when the flight altitude of the vehicle 1 is lowered again, the operation opposite to the above operation is performed according to the altitude value sent from the altitude measuring unit 170. As a result, the irradiation area of the lidar system 100 is expanded so that the scanning area of the lidar system 100 is fixed to the first area S1 even when the altitude of the vehicle 1 is lowered. In the manner as described above, even if there is a change in the altitude of the vehicle 1, monitoring of a certain area is facilitated.

In the first embodiment, after the altitude value measured by the altitude measuring unit 170 is sent to the irradiation angle controller 160, the irradiation angle controller 160 controls the irradiation angle changing unit 150 by directly calculating the angle. The present invention is not limited to this. That is, according to the present invention, after sending the altitude value measured by the altitude measuring unit 170 to the main control device (11c) to perform calculation in the main control device (11c) through the irradiation angle control unit 160 to change the irradiation angle ( 150 may be controlled.

As described above, the lidar system 100 of the vehicle 1 according to the first embodiment may perform laser scanning by emitting a laser at various irradiation angles as necessary during flight of the vehicle 1. Laser scanning can be performed with high precision.

In addition, the lidar system 100 of the vehicle 1 according to the first embodiment automatically changes the irradiation angle so that the irradiation area of the lidar system 100 does not change even when the flying altitude of the vehicle 1 varies. Since it is possible to control the 150, even if there is a change in the altitude of the vehicle 1, it is possible to continuously monitor a certain area.

5 to 9C, a description will be given of a vehicle 2 according to a second embodiment of the present invention, focusing on differences from the first embodiment of the present invention.

FIG. 5 is a schematic front view showing a state of a vehicle including a lidar system according to a second embodiment of the present invention, and FIG. 6 is a schematic view showing the main parts of a lidar system according to a second embodiment of the present invention. 7A and 7B are schematic views showing a state in which an irradiation angle of a lidar system according to a second exemplary embodiment of the present invention is changed. For the purpose of description, first, second, and third lidar sensor installation units are illustrated. 1 is a diagram illustrating a state in which one lidar sensor device is installed in each. 8A and 8B are schematic plan views showing how the irradiation angle of the LiDAR system according to the second embodiment of the present invention is changed.

The vehicle 2 according to the second embodiment can be applied to any type of manned or unmanned vehicle. That is, the aircraft according to the present invention can be applied to various aircraft such as manned planes, unmanned planes, manned helicopters, unmanned helicopters, drones, without limitation.

As shown in FIGS. 5 and 6, the vehicle 2 includes a body 21, a flight device 22, and a lidar system 200.

The main body 21 is a place where a power source 21a such as a battery of the aircraft 2, a communication device 21b, a main control device 21c, a support shaft 21d, and the like are installed. . Here, the main controller 21c may not only control each part of the vehicle 2 and the lidar system 200, but also receive and calculate a lidar signal measured by the lidar system 200 to process an image. Programs, chips, and the like.

In the second embodiment, the main controller 21c controls the lidar system 200 and receives a lidar signal measured by the lidar system 200 to process an image. As assumed, the present invention is not limited thereto. That is, according to the present invention, the system control apparatus and the image processing apparatus may be provided in the lidar system 200 itself. In this case, the lidar system 200 itself not only performs the control regarding the laser scanning, but also the lidar image. Processing can also be performed.

The support shaft 21d is provided extending in the downward direction of the main body 21, and a support portion 21f for supporting the main rotation shaft 210 is provided at the end thereof.

The flight device 22 is installed in the main body 21 as a device that enables the flight of the aircraft 2.

The flight device 22 according to the second embodiment includes a rotor blade 22a and a rotor drive device 22b for driving the rotor blade 22a.

The rotor blade 22a may use a single rotor blade, but may also use a plurality of rotor blades.

As the rotor driving device 22b, a motor is used, and as the motor to be used, a step motor, a servo motor, a general DC motor, an AC motor, and the like may be variously applied.

As the flying device 22 according to the second embodiment, a drive motor is used as the rotor blade 22a and the rotor driving device 22b, but the present invention is not limited thereto. That is, a flying device using a rotor blade is not used as the flying device according to the present invention, and various known flying devices such as a fluid propulsion device, a jet propulsion device, and a thermal device may be used.

Lidar system 200 is a device capable of performing laser scanning, the main rotary shaft 210, the main rotary shaft drive unit 220, the lidar sensor installation unit 230, the lidar sensor device 240, the irradiation angle change The unit 250 includes an irradiation angle controller 260 and an altitude measuring unit 270.

The main rotary shaft 210 has a hollow cylindrical shape and is installed on the support shaft 21d of the main body 21, by using the bearing 21e to enable rotation on the support shaft 21d of the main body 21. Is installed.

A first gear 211 for rotating the main rotating shaft 210 is installed at an outer circumference of the main rotating shaft 210. The first gear 211 has the shape of a spur gear.

The main shaft driver 220 rotates the main shaft 210, and includes a main shaft drive motor 221 and a second gear 222.

The main shaft drive motor 221 may be variously applied to a step motor, a servo motor, a general DC motor, an AC motor, and the like.

The main shaft drive motor 221 according to the second embodiment is made of a geared motor, but the present invention is not limited thereto. That is, according to the present invention, a motor having no built-in gear may be used as the main shaft drive motor 221, and in this case, an additional gear device may be installed between the shaft drive motor 221 and the second gear 222. .

The second gear 222 is composed of a spur gear to mesh with the first gear 211, and transmits the power generated by the main rotary shaft drive motor 221 to the first gear 211 to transfer the main rotary shaft 210. Rotate

Although the first gear 211 and the second gear 222 according to the second embodiment are configured as spur gears, according to the present invention, the shape, form, etc. of the first gear 211 and the second gear 222 are not included. There is no special limitation. That is, the shapes of the first gear 211 and the second gear 222 only need to be able to transfer power from the second gear 222 to the first gear 211, for example, the first gear 211 The second gear 222 may be configured in various shapes such as a spur gear and a helical gear.

The lidar sensor installation unit 230 is provided with three of the first, second, and third lidar sensor installation units 231, 232, and 233 along the axial direction of the main rotation shaft 210. Lidar sensor devices 240 are installed in the 2 and 3 lidar sensor installation units 231, 232, and 233.

The first, second, and third lidar sensor installation units 231, 232, 233 are fixed to the main rotation shaft 210 in the shape of a disc, and rotate together with the main rotation shaft 210.

According to the second embodiment of the present invention, the lidar sensor mounting unit 230 has a disc shape, but the present invention is not limited thereto. That is, the shape of the lidar sensor mounting portion according to the present invention is not particularly limited. For example, the lidar sensor installation unit according to the present invention may have a variety of shapes, such as circular ring shape, elliptical shape, cylinder shape, polygonal ring shape.

According to the second embodiment, three lidar sensor installation units 230 are installed on the main rotation shaft 210, but the present invention is not limited thereto. That is, according to the present invention, a single lidar sensor installation unit may be installed on the main rotation shaft 210.

The first, second, and third lidar sensor installation units 231, 232, and 233 have different diameters D1, D2, and D3, respectively, and are configured to decrease in diameter downward. This is because the lidar sensor device 240 is installed in each of the first, second, and third lidar sensor installation units 231, 232, and 233 so as to change the irradiation angle to perform optimal laser scanning. .

According to the second embodiment, the first, second, and third lidar sensor installation units 231, 232, 233 are configured to have different sizes, but the present invention is not limited thereto. That is, according to the present invention, at least one size of the plurality of lidar sensor installation units 230 may be configured to be the same.

According to the second embodiment, the distance between the first, second, and third lidar sensor installation units 231, 232, 233 is configured to be constant, but the present invention is not limited thereto. That is, according to the present invention can be configured so that the user can change the interval of the plurality of lidar sensor installation unit 230 manually or automatically. If so, there is an advantage that it is easy to fine-tune the irradiation angle of the lidar sensor devices 240.

The plurality of lidar sensor devices 240 are installed to be movable on the first, second, and third lidar sensor installation units 231, 232, and 233. That is, the lidar sensor devices 240 are disposed in a circle at predetermined intervals along the circumference of the first, second, and third lidar sensor installation units 231, 232, 233, and each lidar sensor device ( The 240 is installed in the first, second, and third lidar sensor installation units 231, 232, and 233 as the first hinge device 240a to be rotatable up and down.

According to the second embodiment, the first hinge device 240a is applied to the connection between the lidar sensor device 240 and the first, second, and third lidar sensor installation units 231, 232, and 233. The invention is not limited to this. That is, according to the present invention, the connection between the lidar sensor device 240 and the first, second, and third lidar sensor installation units 231, 232, and 233 is that the lidar sensor device 240 is a lidar sensor installation. What is necessary is just a structure which can rotate up and down with respect to the part 230, and there are no other special restrictions. For example, instead of the first hinge device 240a, various connection methods, such as a ball-socket connection part and a plastic connection part using flexibility of the plastic itself, may be used.

 The lidar sensor apparatus 240 is comprised so that the laser irradiation part LP, the laser light receiving part LR, and the connector part C may be included. That is, the laser irradiation part LP and the laser light receiving part LR are paired to manufacture one laser module.

The laser irradiation part LP performs a function of irradiating the laser light generated by the laser oscillation part (not shown) to the periphery. As the laser oscillation unit (not shown) according to the second embodiment, a laser oscillation apparatus generally used in a lidar apparatus may be used.

The laser light receiver LR receives a laser light reflected from the surroundings and returns. As the laser receiving apparatus applied to the laser receiving unit LR according to the second embodiment, a laser receiving apparatus generally used in a lidar apparatus may be used.

The connector part C performs a function of electrically connecting the laser irradiation part LP and the laser light receiving part LR with the main control device 21c of the main body 21. According to the second embodiment, the connector part C C) is configured to include a wireless transceiver to exchange signals wirelessly with the main control unit 21c of the main body 21.

The connector part C according to the second embodiment includes a wireless transceiver, so that a signal is wirelessly communicated with the main control device 21c of the main body 21 and is controlled by the main control device 21c. The present invention is not limited to this. That is, the connector part C according to the present invention may not include a wireless transceiver. In this case, signal transmission between the lidar sensor device 240 and the main control device 21c is performed by wire, and a slip ring (not shown) may be installed on the main rotating shaft part 210 for wired signal transmission.

On the other hand, the irradiation angle changing unit 250 changes the irradiation angle of the lidar sensor device 240.

The irradiation angle changing unit 250 includes a rotating cylinder 251, a rotating cylinder driving unit 252, and a second connecting unit 253.

The rotating cylinder 251 includes first, second and third rotating cylinders 251a, 251b and 251c, and each of the first, second and third rotating cylinders 251a, 251b and 251c has a main rotating shaft ( 210 is rotatably installed.

The first, second, and third rotating cylinders 251a, 251b, and 251c each have a hollow structure, and are installed using the bearing 210a to enable rotation on the main rotation shaft 210.

First, second and third rotary gears 251a_1, 251b_1 and 251c_1 are formed on the outer circumference of the first, second and third rotary cylinders 251a, 251b and 251c, respectively. The first, second and third rotary gears 251a_1, 251b_1 and 251c_1 have the shape of spur gears.

The rotary cylinder drive 252 includes first, second and third rotary cylinder drives 252a, 252b and 252c, wherein the first, second and third rotary cylinder drives 252a, 252b and 252c are each made of 1, 2, 3 rotating cylinders 251a, 251b and 251c are rotated. To this end, the first, second, and third rotation cylinder driving units 252a, 252b, and 252c are first, second, and third driving gears 252a_1, 252b_1, 252c_1, and first, second, and third rotation cylinder driving motors, respectively. 252a_2, 252b_2, 252c_2, and first, second, and third motor supports 252a_3, 252b_3, and 252c_3.

The first, second, and third drive gears 252a_1, 252b_1, and 252c_1 are configured to have a shape of a spur gear to mesh with the first, second, and third rotary gears 251a_1, 251b_1, and 251c_1, respectively. The first, second, and third rotational cylinder drive motors 252a_2, 252b_2, and 252c_2 transmit power generated by the first, second, and third rotary gears 251a_1, 251b_1, and 251c_1 to thereby transmit the first, second, and third rotations. Rotating cylinders 251a, 251b and 251c are rotated.

Although the first, second and third rotary gears 251a_1, 251b_1 and 251c_1 and the first, second and third driving gears 252a_1, 252b_1 and 252c_1 according to the second embodiment are constructed as spur gears, According to the present invention, the shape, form, etc. of the first, second, and third rotary gears 251a_1, 251b_1, and 251c_1 and the first, second, and third driving gears 252a_1, 252b_1, and 252c_1 are not particularly limited. That is, the shapes of the first, second, and third rotary gears 251a_1, 251b_1, and 251c_1 and the first, second, and third drive gears 252a_1, 252b_1, and 252c_1 are first, second, and third drive gears ( It is only necessary to transfer power from 252a_1) 252b_1 and 252c_1 to the respective first, second and third rotary gears 251a_1 and 251b_1 and 251c_1. For example, the first, second and third rotary gears 251a_1 251b_1 and 251c_1 and the first, second and third driving gears 252a_1 and 252b_1 and 252c_1 may be configured in various shapes such as spur gears and helical gears.

The first, second, and third rotating cylinder driving motors 252a_2, 252b_2, and 252c_2 may be variously applied to a step motor, a servo motor, a general DC motor, an AC motor, and the like.

The first, second and third rotating cylinder drive motors 252a_2, 252b_2 and 252c_2 according to the second embodiment of the present invention are constituted by geared motors, but the present invention is not limited thereto. That is, according to the present invention, a motor having no built-in gear may be used as the rotating cylinder driving motor 252b, in which case the first, second and third rotating cylinder driving motors 252a_2, 252b_2 and 252c_2 and their respective Additional gear devices may be installed between the 1, 2, and 3 drive gears 252a_1, 252b_1 and 252c_1.

The first, second, and third motor supports 252a_3, 252b_3, and 252c_3 respectively support the first, second, and third rotary cylinder drive motors 252a_2, 252b_2, and 252c_2 to the main shaft 210.

According to the second embodiment, the first, second and third rotating cylinder drives 252a, 252b and 252c may include the first, second and third rotary gears 251a_1, 251b_1 and 251c_1 and the first, second and third rotation cylinders. Although the first, second and third rotating cylinders 251a, 251b and 251c are rotated using the driving gears 252a_1, 252b_1 and 252c_1, the present invention is not limited thereto. That is, according to the present invention, if the first, second and third rotating cylinders 251a, 251b and 251c can be rotated, the configuration of the first, second and third rotating cylinder drives 252a, 252b and 252c may be special. no limits. For example, the rotary cylinder drive unit may use various linear actuators such as pneumatic cylinders, hydraulic cylinders, ultrasonic actuators, and other various actuators, if additional link devices and cam devices are used.

The second connecting portion 253 connects the first, second and third rotating cylinders 251a, 251b and 251c to the respective lidar sensor devices 240, thereby providing the first, second and third rotating cylinders 251a ( The irradiation angle of the lidar sensor device 240 is changed according to the rotational movement of 251b and 251c. That is, the second connection part 253 converts the horizontal rotational motion of the first, second, and third rotary cylinders 251a, 251b, and 251c into the vertical rotational motion of the lidar sensor device 240.

The ball joint device 253a is connected to the connection portion between the second connection portion 253 and the first, second, and third rotating cylinders 251a, 251b, and 251c, and the connection portion between the second connection portion 253 and the lidar sensor device 240. Is applied, so that rotation is possible. The ball joint device 253a is a connection device configured to be rotatable with a ball and a socket.

 According to the second embodiment, the connection part of the second connection part 253 and the first, second, and third rotating cylinders 251a, 251b, and 251c, and the connection part of the second connection part 253 and the lidar sensor device 240 are described. Although the ball joint apparatus 253a is applied, this invention is not limited to this. That is, according to the present invention, the second connecting portion 253 converts the horizontal rotational movement of the first, second and third rotation cylinders 251a, 251b and 251c into the vertical rotational movement of the lidar sensor device 240. As long as it is a structure which can be made, there is no other restriction | limiting in particular. For example, various connection methods, such as a universal joint device and a plastic connection using flexibility of the plastic itself, may be used instead of the ball joint device 253a as the connection method of the second connection part 253.

Hereinafter, a configuration of changing the irradiation angle of the lidar system 200 using the irradiation angle changing unit 250 of the second embodiment will be described with reference to FIGS. 7A to 8B.

As shown in FIGS. 7A and 8A, when the first, second and third rotating cylinders 251a, 251b and 251c rotate clockwise, the first, second and third rotating cylinders 251a and 251b are rotated. The second connection part 253 connected to the 251c pulls the lidar sensor device 240, and then the lidar sensor device 240 has a predetermined angle upward with respect to the first hinge device 240a. To rotate. When the lidar sensor device 240 rotates in the upward direction, the irradiation angle of the lidar sensor device 240 changes according to the second embodiment. In the second embodiment, the lidar sensor device 240 includes the first, second, Since the three lidar sensor installation units 231, 232, 233 are arranged in a circular shape, the irradiation area of the lidar system 200 is widened as a whole.

7B and 8B, when the first, second and third rotating cylinders 251a, 251b and 251c rotate counterclockwise, the first, second and third rotating cylinders 251a are rotated. The second connection part 253 connected to the 251c pushes the lidar sensor device 240, and then the lidar sensor device 240 moves downward in the center of the first hinge device 240a. It rotates at a predetermined angle. When the lidar sensor device 240 rotates in the downward direction, the irradiation angle of the lidar sensor device 240 changes accordingly. In the second embodiment, the lidar sensor device 240 is the lidar sensor installation unit 230. ), The irradiation area of the lidar system 200 becomes narrow as a whole.

In the second embodiment, to widen the irradiation area of the lidar system 200, the first, second and third rotary cylinders 251a, 251b and 251c are rotated clockwise, and the irradiation of the lidar system 200 is performed. To narrow the area, the first, second and third rotating cylinders 251a, 251b and 251c are rotated counterclockwise, but the present invention is not limited thereto. That is, according to the present invention, the rotational direction of the rotating cylinder for changing the irradiation area of the lidar system can be changed as many as the mechanical configuration and setting situation of the irradiation angle change unit.

As shown in FIG. 5, the irradiation angle controller 260 is installed in the main body 21, and the irradiation angle controller 260 controls the irradiation of the lidar sensor device 240 by controlling the irradiation angle changing unit 250. To control the angle.

The irradiation angle control unit 260 may control the first, second and third rotation cylinder driving units 252a, 252b and 252c together in controlling the irradiation angle changing unit 250, but the first, second, The three rotary cylinder drives 252a, 252b and 252c may be separately controlled. For example, the irradiation angle control unit 260 may drive only the third rotating cylinder drive unit 252c as necessary, and in that case, the lidar sensor device 240 installed in the third lidar sensor installation unit 233 may be used. Only the irradiation angle will be changed.

The irradiation angle controller 260 may be implemented in various forms such as a circuit board, an integrated circuit chip, a series of computer programs, firmware, and software mounted on hardware.

According to the second embodiment, the irradiation angle control unit 260 is installed in the main body 21 and is installed separately from the main control device 21c, but the present invention is not limited thereto. According to the present invention, the irradiation angle controller 260 may be installed at another part of the vehicle 2 in addition to the main body 21. For example, the irradiation angle controller 260 may be installed on the main rotation shaft 210, the lidar sensor installation unit 230, or the like. In addition, the irradiation angle control unit 260 may be configured to be included in the main control unit 21c of the main body 21, in which case the irradiation angle control unit 260 may have various forms such as a chip, a circuit board, and a computer program. It can be implemented as.

In addition, the irradiation angle controller 260 may control the irradiation angle changing unit 250 according to the altitude value measured by the altitude measuring unit 270. For example, the irradiation angle controller 260 may control the irradiation angle changing unit 250 so that the irradiation area of the lidar sensor device 240 does not change even when the flight altitude of the vehicle 2 is changed. Will be described later.

On the other hand, the altitude measuring unit 270 measures the flight altitude of the vehicle (2). The altitude measuring unit 270 may be a known altitude measuring device. That is, the altitude measuring unit 270 only needs to measure altitude, and there are no other special restrictions. For example, various devices, such as an altitude measuring device using a GPS signal, a radar signal, an altitude sensor using an air pressure value, an altitude measuring device using a laser distance measuring signal, and the like, may be applied to the device used in the altitude measuring unit 270. .

Hereinafter, with reference to FIGS. 9A to 9C, the operation of the aircraft 2 according to the second embodiment will be described. FIG. 9A shows the first and second areas R1, R2 and R1 above the ground with the Lidar system 200 when the vehicle 2 according to the second embodiment of the present invention is at the first altitude H1. It is a schematic diagram which shows the state which scans three area | region R3. FIG. 9B shows the fourth zone R4, fifth zone R5, and ground on the ground with the Lidar system 200 when the vehicle 2 according to the second embodiment of the present invention is at the first altitude H1. FIG. 9C is a schematic view showing scanning of the six regions R6, and FIG. 9C shows the lidar system 200 when the vehicle 2 according to the second embodiment of the present invention is at the second altitude H2. FIG. 1 is a schematic diagram illustrating scanning of the ground first region R1, the second region R2, and the third region R3.

When the user prepares the vehicle 2 and drives the flight device 22, the rotor blade 22a rotates and lift is generated by receiving power from the rotor drive device 22b so that the vehicle 2 can fly. To get started.

 When the vehicle 2 starts to fly, the user operates the lidar system 200 manually or automatically by a preset program.

When the lidar system 200 operates, the main shaft drive unit 220 operates. When the main rotary shaft driver 220 is operated, the main rotary shaft 210 and the lidar sensor installation unit 230 is rotated together.

When the rider sensor installation unit 230 rotates, the rider sensor device 240 also rotates around the main rotating shaft 210.

 At this time, when the main controller 21c operates the laser oscillation unit (not shown) of the lidar sensor device 240, the laser light is emitted from each laser irradiation unit LP so as to move downward of the lidar system 200. Will be investigated. The laser light irradiated in the downward direction is reflected back to the object, the terrain, and the like to return to the lidar system 200. The laser light reflected from the surroundings is returned to the laser light receiver LR. The laser light receiver LR detects the returned laser light and transmits the data to the main controller 21c.

The main controller 21c may obtain information on surrounding objects, terrain, and the like by analyzing data on the received laser light. More specifically, the acquired data can be used to extract the distance to the object, direction, speed, temperature, material distribution, concentration characteristics, and the like, and to implement 2D and 3D images as necessary. . In this case, as illustrated in FIG. 9A, when the vehicle 2 is at the first altitude H1, the first and second areas R1, R2, It may be represented by scanning the third region R3.

On the other hand, if the user wants to widen the laser scanning area of the lidar system 200 when the aircraft 2 is at the first altitude H1, the main controller 21c issues a command to the irradiation angle controller 260. The irradiation angle change unit 250 is controlled. That is, the irradiation angle changing unit 250 operates the rotating cylinder drive motor 252 to rotate the rotating cylinder 251 clockwise as shown in FIGS. 7A and 8A. In this case, the lidar sensor device 240 is rotated at a predetermined angle in the upward direction about the first hinge device 240a by the second connection part 253 connected to the rotating cylinder 251. When the rider sensor device 240 rotates in the upward direction, the irradiation area of the lidar system 200 becomes wider so that the scanning area of the lidar system 200 becomes wider. That is, as shown in FIG. 9B, the scanning area of the lidar system 200 is extended to the fourth area R4, the fifth area R5, and the sixth area R6, respectively.

On the other hand, the user can select the "irradiation area fixed mode" such that the irradiation area of the lidar sensor device 240 does not change even when the flight altitude of the vehicle 2 is changed among the operation modes of the lidar system 200. That is, in such a "irradiation area fixed mode," the irradiation angle changing unit 250 can be automatically controlled so that the irradiation area of the lidar system 200 does not change even if the flight altitude of the vehicle 2 changes. That is, when the altitude measuring unit 270 measures the flying altitude of the aircraft 2 and sends the measured altitude value to the irradiation angle controller 260, the irradiation angle controller 260 performs calculation according to a program previously input. The irradiation angle changing unit 250 is controlled so that the irradiation area of the lidar sensor device 240 is not changed.

For example, as shown in FIG. 9C, when the "radiation area fixed mode" is set, when the flight altitude of the vehicle 2 increases from the first altitude H1 to the second altitude H2, the irradiation angle The controller 260 controls the irradiation angle changing unit 250 by performing calculation based on the altitude value sent from the altitude measuring unit 270. That is, the irradiation angle changing unit 250 operates the rotating cylinder driving unit 252 to rotate the rotating cylinder 151 counterclockwise as shown in FIGS. 7B and 8B. In this case, the lidar sensor device 240 is rotated at a predetermined angle in the downward direction with respect to the first hinge device 240a by the second connection part 253 connected to the rotating cylinder 251. When the rider sensor device 240 rotates in the downward direction, the irradiation area of the lidar system 200 is narrowed accordingly, and the laser scanning area of the lidar system 200 is also narrowed. That is, in general, as the altitude increases, the laser scanning area becomes wider. In the "irradiation area fixed mode" of the lidar system 200 according to the second embodiment, even if the altitude of the vehicle 2 becomes high, the lidar system 200 The scanning area of is fixed to the first area R1, the second area R2, and the third area R3.

In addition, in the case of the "irradiation area fixed mode", when the flight altitude of the vehicle 2 is lowered again, the operation opposite to the above-described operation is performed according to the altitude value sent from the altitude measuring unit 270. In this case, even if the altitude of the vehicle 2 is lowered by expanding the irradiation area of the lidar system 200, the scanning area of the lidar system 200 is the first area R1, the second area R2, and the third area. It becomes fixed at (R3). In the manner as described above, even if there is a change in the altitude of the vehicle 2, monitoring of a certain area is facilitated.

In the second embodiment, after the altitude value measured by the altitude measuring unit 270 is sent to the irradiation angle control unit 260, the irradiation angle control unit 260 controls the irradiation angle changing unit 250 by directly calculating it. The present invention is not limited to this. That is, according to the present invention after sending the altitude value measured by the altitude measuring unit 270 to the main control device (21c) to perform calculation in the main control device (21c) through the irradiation angle control unit 260 irradiation angle changing unit ( 250 may be controlled.

In the above operation example, only when the irradiation angle control unit 260 controls the irradiation angle changing unit 250, controlling the first, second and third rotating cylinder drives 252a, 252b and 252c together is explained. However, the present invention is not limited thereto. That is, as described above, when the irradiation angle control unit 260 controls the irradiation angle changing unit 250, the first, second and third rotating cylinder driving units 252a, 252b and 252c may be separately controlled. have. For example, the irradiation angle control unit 260 may drive only the second and third rotating cylinder driving units 252b and 252c as necessary, and in this case, the second and third lidar sensor installation units 232 and 233. The irradiation angle of the lidar sensor device 240 installed in the will be changed.

As described above, since the lidar system 200 of the vehicle 2 according to the second embodiment of the present invention may emit laser at various irradiation angles as necessary during flight of the vehicle 2, laser scanning may be performed. Laser scanning can be performed with high precision.

In addition, the lidar system 200 of the vehicle 2 according to the second embodiment of the present invention automatically changes the irradiation angle so that the irradiation area of the lidar system 200 does not change even when the flying altitude of the vehicle 2 varies. Since it is possible to control the 250, even if there is a change in the altitude of the vehicle 2, it is possible to continuously monitor a certain area.

In addition, in the lidar system 200 of the vehicle 2 according to the second embodiment, a plurality of lidar sensor installation units 230 are installed along the axial direction of the main rotating shaft 210, and each liar is provided. Since the lidar sensor devices 240 are installed in the sensor installation unit 230, various laser scanning areas of the lidar system 200 may be implemented, which is advantageous for monitoring and reconnaissance.

In addition to the configurations, operations, and effects described above, the configurations, operations, and effects of the vehicle 2 and the lidar system 200 according to the second embodiment of the present invention may be the same as those of the vehicle according to the first embodiment of the present invention. 1) and the configuration, operation, and effects of the lidar system 100 are the same, and will be omitted in the present description.

 While aspects of the present invention have been described with reference to the embodiments shown in the accompanying drawings, this is merely exemplary, and various modifications and equivalent other embodiments are possible from those skilled in the art. You will understand the point. Accordingly, the true scope of protection of the invention should be defined only by the appended claims.

The invention can be used in the industry of applying or manufacturing lidar systems.

Claims (20)

A main body on which a flying device is installed; A main rotary shaft installed in the main body to enable rotation; A main rotary shaft driver for rotating the main rotary shaft; At least one lidar sensor installation unit installed at the main rotation shaft and rotating together with the main rotation shaft; A plurality of lidar sensor devices installed to move in the lidar sensor installation unit, each of which includes a laser irradiator and a laser light receiver; An irradiation angle changing unit for changing an irradiation angle of the lidar sensor device; And And an irradiation angle controller for controlling the irradiation angle changing unit. The method of claim 1, The flying device includes at least one rotor blade and a rotor driving device for driving the rotor blade. The method of claim 1, The main rotating shaft is a vehicle having a hollow shape. The method of claim 3, The main body is provided with a support shaft, the main body is installed on the support shaft to be rotatable rotatable. The method of claim 1, The main shaft drive unit comprises a main shaft drive motor. The method of claim 1, Air vehicle further comprising an altitude measuring unit for measuring the flight altitude of the vehicle. The method of claim 6, And the irradiation angle controller controls the irradiation angle changing unit according to the altitude measured by the altitude measuring unit. The method of claim 7, wherein And the irradiation angle controller controls the irradiation angle changing unit so that the irradiation area of the lidar sensor device does not change even when the flight altitude of the vehicle is changed. The method of claim 1, The irradiation angle changing unit, A moving cylinder installed to move along an axial direction of the main rotating shaft; A moving cylinder driver for moving the moving cylinder; And And a plurality of first connecting portions connecting the moving cylinders to the respective lidar sensor devices. And the irradiation angle of the lidar sensor device changes as the moving cylinder moves. The method of claim 9, And the moving cylinder and the respective lidar sensor devices are connected to the first connection part by a hinge device. The method of claim 1, The irradiation angle changing unit, A rotating cylinder rotatably installed on the main rotating shaft; A rotating cylinder driver for rotating the rotating cylinder; And And a plurality of second connecting portions connecting the rotating cylinders to the respective lidar sensor devices. And the irradiation angle of the lidar sensor device is changed as the rotating cylinder moves. The method of claim 11, And the rotating cylinder and the respective lidar sensor devices are connected to the second connection part by a ball joint device. The method of claim 1, And a plurality of lidar sensor installation units are installed along the axial direction of the main rotation shaft. A main body on which a flying device is installed; A main rotary shaft installed in the main body to enable rotation; A main rotary shaft driver for rotating the main rotary shaft; At least one lidar sensor installation unit installed at the main rotation shaft and rotating together with the main rotation shaft; A plurality of lidar sensor devices installed to move in the lidar sensor installation unit, each of which includes a laser irradiator and a laser light receiver; An irradiation angle changing unit for changing an irradiation angle of the lidar sensor device; An altitude measuring unit measuring a flight altitude; And And an irradiation angle control unit controlling the irradiation angle changing unit according to the altitude measured by the altitude measuring unit. The method of claim 14, And the irradiation angle controller controls the irradiation angle changing unit so that the irradiation area of the lidar sensor device does not change even when the flight altitude of the vehicle is changed. The method of claim 14, The irradiation angle changing unit, A moving cylinder installed to move along an axial direction of the main rotating shaft; A moving cylinder driver for moving the moving cylinder; And And a plurality of first connecting portions connecting the moving cylinders to the respective lidar sensor devices. And the irradiation angle of the lidar sensor device changes as the moving cylinder moves. The method of claim 16, And the moving cylinder and the respective lidar sensor devices are connected to the first connection part by a hinge device. The method of claim 14, The irradiation angle changing unit, A rotating cylinder rotatably installed on the main rotating shaft; A rotating cylinder driver for rotating the rotating cylinder; And And a plurality of second connecting portions connecting the rotating cylinders to the respective lidar sensor devices. And the irradiation angle of the lidar sensor device is changed as the rotating cylinder moves. The method of claim 18, And the rotating cylinder and the respective lidar sensor devices are connected to the second connection part by a ball joint device. The method of claim 14, And a plurality of lidar sensor installation units are installed along the axial direction of the main rotation shaft.

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