KR101631133B1 - Three dimensional laser scanning system - Google Patents

Abstract

According to the present invention, since the optical transmission path of the pulse laser source module and the power supply path of the optical transmission module and the optical reception module are separated from each other, the combined structure of the rotation part and the fixing part, To a laser scanning system.
A three-dimensional laser scanning system according to the present invention comprises: a rotator including an optical transmitter module for emitting pulsed light; a light receiving module for receiving reflected light reflected from a target after being emitted from the optical transmitter module; A rotation driving unit provided at a lower portion of the rotation unit for rotating the rotation unit, and a pulse laser source module for generating pulse light and supplying the pulse light to the optical transmission module; And one end connected to the pulse laser source module and the other end connected to an upper portion of the rotation unit to transmit the pulse light generated from the racer source to the optical transmission module And an optical transmission unit including optical transmission means.

Description

[0001] THREE DIMENSIONAL LASER SCANNING SYSTEM [0002]

The present invention relates to a three-dimensional laser scanning system, and more particularly, to a three-dimensional laser scanning system having a structure in which a transmission path of laser light supplied from a pulse laser source module to an optical transmission module, Dimensional laser scanning system designed to simplify a coupling structure of a rotating portion and a fixing portion and a structure of an emission optical system according to the present invention.

A three-dimensional image sensor, called LIDAR (Light Detection And Ranging) or LADAR (Laser Detection And Ranging), emits pulsed laser light toward a target, ), And converts it into an electrical signal, whereby the distance to the target and the moving speed of the target can be calculated.

Such a lidar system is widely applied in a variety of fields such as a sensor for detecting obstacles in front of a robot and an unmanned vehicle, a radar gun for speed measurement, an aerial geo-mapping device, a three-dimensional ground survey, and an underwater scanning.

In recent years, the Raida system has been used as a driving assistant application, which allows the driver to be alerted or to take measures to automatically adjust the speed of the vehicle in the event of a dangerous situation such as a frontal or lateral obstacle, The application field of the automatic operation device is expanding.

As an example of the above-described Lada system, a three-dimensional scanning system and a three-dimensional image acquisition method using the same are disclosed in Japanese Patent Application No. 10-1357051 filed and filed by the present applicant.

The three-dimensional scanning system includes a light source device for generating a pulsed laser beam, a scanning system for obtaining a three-dimensional image by calculating a distance of a target by receiving reflected light reflected from a target after emitting pulse light, An optical transmission / reception unit including an optical transmission / reception module for emitting light and receiving reflection of the emitted pulsed laser light; a rotation drive device for rotating the optical transmission / reception means; and a control unit for controlling the light source device, optical transmission / reception means, Receiving module, wherein the optical transmitting and receiving unit is composed of two or more optical transmitting and receiving modules, and at least one of the two or more optical transmitting and receiving modules is configured to be different from the optical transmitting and receiving module of another optical transmitting and receiving module.

However, in the above-described three-dimensional scanning system, the pulse laser source module and the optical transmitting / receiving means are both mounted on the rotation driving device and rotated. Thus, the pulsed laser source module and the weight , A rotating motor having a large capacity is required, which results in a problem of increasing the weight and volume of the scanning system.

In order to solve the above-mentioned problem, a '3D laser scanning system' is disclosed in Japanese Patent Application No. 10-1391298 filed and registered by the present applicant.

The three-dimensional laser scanning system is a three-dimensional laser scanning system that acquires a three-dimensional image through point cloud data obtained by rotating and emitting pulsed laser light in a line form and receiving reflected light reflected from a target and measuring a distance to a target The scanning system includes a stationary portion and a rotating portion rotatably coupled to the stationary portion. The stationary portion includes a motor for driving the rotating portion and a pulse laser source module for generating the pulsed laser light The rotation unit includes a rotation power source unit coupled to the motor, an optical separation module for separating the pulsed laser light into two or more pulses, an optical transmission module for emitting the separated pulsed laser light to the outside in the form of a vertical line, And two or more optical transmitting / receiving modules including a light receiving module for receiving the reflected pulsed laser light and converting the received pulse laser light into an electric signal It is configured to.

However, in the case of the above-described three-dimensional laser scanning system, the pulse laser source module for generating a line laser, the cooling water stage thereof, and the optical transmission / reception module for emitting the light and generating the point cloud data by receiving the reflected light, And the optical transmission / reception module is designed to rotate, only a lightweight and compact size system is realized. However, since the driving power source and the laser light source required in the rotation part are combined with the fixed part and the rotating part It is required to supply the slip ring through the hollow slip ring. Therefore, there is a problem in that high-speed driving is limited and the structure is complicated.

Korean Registered Patent No. 10-1357051 (registered on January 23, 2014)

Korean Registered Patent No. 10-1391298 (registered on Apr. 25, 2014)

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above problems in the prior art by providing a structure in which a transmission path of a laser light supplied from a pulse laser source module to an optical transmission module and a power supply path of a power receiving module and a controller are separated Dimensional laser scanning system designed to simplify the coupling structure of the rotation part and the fixing part and the structure of the emission optical system.

According to an aspect of the present invention, there is provided a three-dimensional laser scanning system including an optical transmission module for emitting pulse light, a light receiving module for receiving reflected light reflected from a target after being emitted from the optical transmission module, A rotator including a controller for generating an image of the object based on the reflected light received by the receiving module; A rotation driving unit provided at a lower portion of the rotation unit for rotating the rotation unit, and a pulse laser source module for generating pulse light and supplying the pulse light to the optical transmission module; And an optical transmission unit for transmitting pulsed light generated by the pulse laser source module to the optical transmission module, the optical transmission unit including: And an optical transmission unit including means.

Preferably, the optical transmission means is composed of an optical fiber, and the optical transmission unit includes a support bracket for supporting the optical fiber so as not to interfere with the rotation unit, wherein one end of the support bracket is integrally fixed to the fixing portion, And a horizontal part extending from the upper end of the vertical part to the upper part of the rotation part, wherein a rectangular semi-circular groove is formed in the vertical part or the horizontal part in which the optical fiber is inserted and fixed in the longitudinal direction .

Preferably, the support bracket includes: a circular bracket fixedly coupled to an end of the horizontal portion; And a rotary optical joint provided at a central portion of the circular bracket, and the light transmitted through the optical fiber can be supplied to the optical transmission module through the rotary optical joint.

Preferably, a slip ring is interposed between the rotating part and the fixing part, and power necessary for operation of the light receiving module of the rotating part can be supplied through the slip ring.

As described above, according to the present invention, since the optical transmission path supplied from the pulse laser source module to the optical transmission module and the power supply path of the optical receiving module and the controller are separated from each other, the combined structure of the rotating portion and the fixed portion, Can be simplified.

In addition, since both the light of the pulse laser source module and the power of the light receiving module are supplied from the lower fixed portion, the size increase caused by using the hollow type slip ring of the conventional large and complex rotary structure There is an advantage that a rotary system capable of overcoming the problem and the durability limit of the wire contact type slip ring structure at the same time can be realized.

In addition, since there is a portion that is fixed both above and below, there is an advantage that the rotating portion is configured to be enclosed by a cover such as a glass, thereby solving the problem that the rotating portion is directly exposed to the outside.

1 is a perspective view illustrating a three-dimensional laser scanning system according to an embodiment of the present invention.
2 is an exploded perspective view illustrating a three-dimensional laser scanning system according to an embodiment of the present invention.
FIG. 3 is a front view showing the inside of a three-dimensional laser scanning system according to an embodiment of the present invention.
4 is a cross-sectional view taken along line AA 'of FIG.

The present invention may be embodied in many other forms without departing from its spirit or essential characteristics. Accordingly, the embodiments of the present invention are to be considered in all respects as merely illustrative and not restrictive.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms.

The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, .

On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", "having", and the like are intended to specify the presence of stated features, integers, steps, operations, components, Steps, operations, elements, components, or combinations of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like or corresponding elements are denoted by the same reference numerals, and a duplicate description thereof will be omitted.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The three-dimensional laser scanning system according to an embodiment of the present invention includes a rotation unit 100, a fixing unit 200, and an optical transmission unit 300, as shown in FIGS.

First, the rotation unit 100 will be described.

The rotation unit 100 includes a light transmission module 110, a light reception module 120, and a controller 122. The rotation unit 100 is rotatably mounted on the fixing unit 200. [

The optical transmitter module 110 is a module for emitting pulse light and the optical receiver module 120 is a module for receiving reflected light reflected from a target after being emitted from the optical transmitter module 110, The light receiving module 122 generates an image of the measured object based on the reflected light received by the light receiving module 120.

The optical transmission module 110, the optical reception module 120, and the controller 122 may be configured as at least one pair, and the present invention will be described by way of example in the case of two pairs.

The optical transmission module 110 receives pulse light from the pulse laser source module 220 through the optical fiber 310 of the optical transmission unit 300 and transmits the pulse light to the target in the form of a vertical line. A condensing lens 111 for condensing the pulsed light transmitted through the optical fiber 310 and irradiated downward; a condenser lens 111 for condensing the light passing through the condenser lens 111 in the horizontal direction 2 And a plurality of line generator lenses 115 for converting each light split through the optical splitter 113 into a vertical line shape.

The optical isolator 113 may be configured to divide the light that has passed through the condenser lens 111 in directions opposite to each other.

For example, the optical isolator 113 includes a first filter F1 that reflects part of the light that has passed through the condenser lens 111 and transmits the remaining light, and a second filter F1 that reflects the light that has passed through the first filter F1 And a second filter (F2) for filtering the input signal.

The light receiving module 120 is disposed at a position adjacent to the line generator lens 115 so as to receive the reflected light reflected from the target after being emitted through the line generator lens 115 of the light receiving module 120 do.

That is, after one light receiving module 120 receives the reflected light reflected from the target after being emitted from one line generator lens 115, and the reflected light reflected from the target after being emitted from the other line generator lens 115 And the other light receiving module 120 receives the light.

The controller 122 converts reflected light received by the light receiving module 120 into an electric signal to generate an image.

The rotation unit 100 may be rotatably driven by a driving shaft 240a driven by rotation of the rotation driving unit 210 provided in the fixing unit 200. Specifically, And a rotation plate 130 rotated by a drive shaft 240a so that the optical transmission module 110, the optical reception module 120 and the controller 122 are mounted on the rotation plate 130 Lt; / RTI >

Next, the fixing unit 200 will be described.

For example, the fixing part 200 may be fixed to the upper part of the vehicle, for rotating the rotation part 100, And supplies the pulse light, the power source, and the like required for the driving unit 100 to the rotation unit 100.

The fixing unit 200 includes rotation driving means 210 for providing rotation driving force for rotating the rotation unit 100, pulse for generating pulse light and supplying the pulse light to the optical transmission module 110 of the rotation unit 100, A laser source module 220 and a power unit (not shown) for supplying operating power to the light receiving module 120 and the controller 122.

The fixing part 200 includes a cylindrical casing 231 and a fixing plate 233 installed in the cylindrical casing 231 and spaced apart from the inner bottom surface of the cylindrical casing 231 by a predetermined distance A pulsed laser source module 220 may be mounted on the inner bottom surface of the cylindrical casing 231 and a rotation driving means 210 may be mounted on the upper portion of the fixed plate 233, The drive shaft 240a driven by the means 210 may be configured to pass through the upper portion of the cylindrical casing 231. [

The drive shaft 240a may be supported to be rotatable through a bearing provided at the upper center of the cylindrical casing 231. [

The drive shaft 240a penetrating the upper portion of the cylindrical casing 231 is axially coupled to the rotation plate 130 of the rotation unit 100 to rotate the rotation plate 130.

A slip ring 240 is interposed between the rotary part 100 and the fixing part 200 and the light receiving module 120 of the rotary part 100 is connected to the slip ring 240 through the slip ring 240. [ Power necessary for the operation of the controller 122 may be supplied or the scan data obtained by the three-dimensional scan operation of the rotation unit 100 may be transmitted to the fixing unit 200. [

For example, one end 240a of the slip ring 240 is axially coupled to the center of the rotation plate 130 to function as a drive shaft 240a, and the other end 240b of the slip ring 240 A rotation driving means 210 such as a motor for rotating one end 240a of the slip ring 240 can be installed to be fixed to the inside of the fixing portion 200 by a bracket 250, Can be connected to the belt (BT) through a plurality of pulleys (P).

Alternatively, as shown in FIG. 5, it is also possible to rotate the rotation plate 130 of the rotation unit 100 through the hollow type direct drive motor 210 'fixed to the fixed plate 233 .

A cover 101 having an anti-reflection coating on the light transmitting material and the surface of the light transmitting material may be provided on the rotating plate 130 so as to enclose the rotating part 100.

Next, the optical transmission unit 300 will be described.

The optical transmission unit 300 is a part for transmitting the pulse light generated by the pulse laser source module 220 of the fixing unit 200 to the upper part of the optical transmission module 110 of the rotation unit 100, 310 and a support bracket 320.

One end of the optical fiber 310 is connected to the pulse laser source module 220 and the other end of the optical fiber 310 is connected to the upper portion of the rotation unit 100. Accordingly, the optical fiber 310 can transmit the pulse light generated by the pulse laser source module 220 to the optical transmission module 110.

The support bracket 320 is provided to prevent the optical fiber 310 from interfering with the rotation of the rotation unit 100, that is, to prevent the optical fiber 310 from interfering with the rotation unit 100 .

Specifically, the optical fiber 310 is connected to the pulse laser source module 220 at one end, extends inside the cylindrical casing 231, passes through the upper side of the cylindrical casing 231, The support bracket 320 may extend through an upper portion of the cylindrical casing 231 to support an extended portion of the optical fiber 310 extended to the upper portion of the rotation unit 100 So as not to interfere with the rotation unit 100.

The support bracket 320 is configured such that the optical fiber 310 is positioned outside the rotation unit 100 and the support bracket 320 is fixed at one end to the fixing unit 200 A vertical part 321 extending along the outer side of the rotation part 100 and a horizontal part 323 extending from the upper end of the vertical part 321 to the upper part of the rotation part 100, A rectangular semicircular groove 321h may be formed in the vertical portion 321 so that the optical fiber 310 may be inserted and fixed.

The optical fiber 310 is extended to be supported by the vertical part 321 and the horizontal part 323 and then the end of the optical fiber 310 irradiates light downward from the upper center of the rotary part 100. [

A circular bracket 325 may be fixedly coupled to the end of the horizontal portion 323 and a rotary optical joint 327 may be provided at the center of the circular bracket 325.

The end of the optical fiber 310 is connected to the upper side of the rotary optical joint 327 and the light irradiated through the end of the optical fiber 310 is transmitted to the optical transmission module 327 through the rotary optical joint 327. [ 110 < / RTI >

Specifically, the optical fiber 310 may be supported by the supporting bracket 320, extend through the side surface of the circular bracket 325 and extend to the inner center of the rotary optical joint 327, And may be fixed to the center of the optical joint 327 so as to irradiate light downward.

According to the configuration of the three-dimensional laser scanning system including the rotation unit 100, the fixing unit 200 and the optical transmission unit 300 as described above, due to the interference of the vertical part 321 of the support bracket 321, And the optical transmission path of the pulse laser source module 220 and the power supply path of the optical receiving module 120 and the controller 122 are separated from each other. The coupling structure of the rotation part 100 and the fixing part 200 and the structure of the emission optical system can be simplified.

Since the light of the pulse laser source module 220 and the power supplied to the light receiving module 120 and the controller 122 are both supplied from the lower fixing part 200, It is possible to realize a rotary system capable of simultaneously overcoming the problem of size increase caused by using the hollow type slip ring of the structure and the limit of durability of the wire contact type slip ring structure.

Meanwhile, the data scanned by the three-dimensional laser scanning system of the present embodiment can be transmitted to an external PC through a communication line through the slip ring 240 or wireless communication means (WIFI, UWB, etc.).

Although the present invention has been described with reference to the preferred embodiments thereof with reference to the accompanying drawings, it will be apparent to those skilled in the art that many other obvious modifications can be made therein without departing from the scope of the invention. Accordingly, the scope of the present invention should be interpreted by the appended claims to cover many such variations.

100:
110: optical transmission module
120: light receiving module
200:
210: rotation driving means
220: Pulsed laser source module
300: Optical transmission unit
310: Optical fiber
320: support bracket

Claims (4)

A light receiving module for receiving the reflected light reflected from the target after being emitted from the light transmitting module, and a controller for generating an image of the measured object based on the reflected light received by the light receiving module, ;
A rotation driving unit provided at a lower portion of the rotation unit for rotating the rotation unit, and a pulse laser source module for generating pulse light and supplying the pulse light to the optical transmission module; And
An optical transmission unit extending to the outside of the rotation unit and having one end connected to the pulse laser source module and the other end connected to the upper part of the rotation unit to transmit the pulse light generated in the pulse laser source module to the optical transmission module; And an optical transmission unit including a support bracket for supporting the optical transmission unit so as not to interfere with the rotation unit,
Wherein the support bracket includes a rotary optical joint for supplying light irradiated through an end of the optical transmission unit to the optical transmission module. The method according to claim 1,
Wherein the optical transmission means comprises an optical fiber, and the support bracket includes a vertical portion integrally fixed to the fixing portion and extending along the outer side of the rotary portion, and a horizontal portion extending from the upper end of the vertical portion to the upper portion of the rotary portion, And a rectangular semicircular groove is formed in the vertical portion or the horizontal portion. The rectangular semicircular groove is inserted and fixed in the longitudinal direction of the optical fiber. 3. The method of claim 2,
The support bracket
And a circular bracket fixedly coupled to an end of the horizontal portion, wherein the rotary optical joint is provided at a central portion of the circular bracket. The method according to claim 1,
Wherein a slip ring is interposed between the rotating part and the fixing part, and power necessary for operation of the light receiving module of the rotating part is supplied through the slip ring.

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