• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.644-647
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• 1996

In this study the theoretical minimum resolution analysis of an active vision system using laser range finder is performed for surrounding recognition and 3D data acquisition in unknown environment. The laser range finder consists of a slitted laser beam generator, a scanning mechanism, CCD camera, and a signal processing unit. A laser beam from laser source is slitted by a set of cylindrical lenses and the slitted laser beam is emitted up and down and rotates by the scanning mechanism. The image of laser beam reflected on the surface of an object is engraved on the CCD array. In the result, the resolution of range data in laser range finder is depend on distance between lens center of CCD camera and light emitter, view and beam angles, and parameters of CCD camera.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 심포지엄 논문집 정보 및 제어부문
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• pp.339-341
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• 2006

This paper proposes a method of container position measurement using automatic landing system that is estimated by a laser range finder. In the most of container position measurement methods, CCD cameras or laser scanners have been used to get the source data. However those sensors are not only weak for disturbances, for examples, the light, fog, and rain, but also the system cost is high. When the spreader arrives the goal position, it is still swung by inertia or by wind effect. In this paper, the spreader swung data have been used to find the container position. The laser range finder is equipped in the front side of spreader. It can measure distance and relative position between spreader and container. This laser range finder can be rotated as desired by a motor. And a tilt sensor is equipped on the spreader to measure spreader sway. We estimate the relative position information between the spreader and a container using the laser range finder and tilt sensor through the geometrical analysis.

• 한국생산제조학회지
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• 제9권1호
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• pp.102-110
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• 2000

This paper presents an algorithm of local map building for autonomous robot navigation using LASER range finder information. We develop a model of sensor output for a LASER range finder, and obtain an output data of the LASER range finder for a given environment. From the output data, a local map is obtained through the following procedures: (1) filtering of output data to remove noisy and unnecessary data, (2) comparison of filtered data with the original data to restore useful data, (3) thickening of the map obtained from the restored data, and (4) skeletonizing of the thickened map to get a final local map. Through some simulation studies, a map is obtained from the LASER range finder information for a given indoor environment, and is compared with the environment.

• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.361-367
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• 2010

This paper reports the development of a mobile robot for patrol using a single laser range finder. A Laser range finder is useful for outdoor environment regardless of illumination change or various weather conditions. In this paper we combined the motion control of the mobile robot and the algorithm for detecting the outdoor environment. For obstacle avoidance, we adopted the Vector Field Histogram algorithm. A laser range finder is mounted on the mobile robot and looking down the road with a small tilt angle. We propose an algorithm for detecting the surface of the road. The outdoor patrol robot platform is equipped with a DGPS system, a gyro-compass sensor, and a laser range finder. The proposed obstacle avoidance and road detection algorithms were experimentally tested in success.

• 한국산학기술학회논문지
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• 제12권7호
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• pp.3214-3219
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• 2011

오늘날 우리는 급속하게 발전하는 정보기술을 기반으로 하는 정보화 사회에 살고 있다, 이러한 정보기술의 발전에 힘입어서 정보산업은 급속하게 발전하고 있고 우리사회에 많은 변화를 가져오고 있다. 많은 정보기술 가운데 레이저 거리측정기는 여러 가지 어려운 상황에서 쉽게 거리를 측장할 수 있게 해주는 도구이다. 본 연구에서는 산업 현장이나 레져용 등 다목적으로 사용할 수 있는 레이저 거리측정기를 개발하였다. 개발된 레이저 거리측정기는 송신부와 수신부의 시간 차이를 이용하여 개발 되었으며 사람이 측정하기 어려운 여러 가지 환경에서 쉽게 사용이 가능하며 산업현장이나 일반 생활용으로 다양한 분야에 적용이 가능하다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 추계학술대회 논문집
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• pp.266-270
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• 1992

In this study an active vision system using a laser range finder is proposed for the navigation of a mobile robot in unknown environment. The laser range finder consists of a slitted laser beam generator, a scanning mechanism, CCD camera, and a signal processing unit. A laser beam from laser source is slitted by a set of cylindrical lenses and the slitted laser beam is emitted up and down and rotates around the robot by the scanning mechanism. The image of laser beam reflected on the surface of an object is engraved on the CCD array. A high speed image processing algorithm is proposed for the real-time navigation of the mobile robot. Through experiments it is proved that the accurate and real-time recognition of environment is able to be realized using the proposed laser range finder.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.938-941
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• 2003

As the application area of range finder initially developed for military purpose has been extended, the necessity of precision measurement for long distance and its miniaturization is being presented. Recently, LRF(Laser Range Finder) is widely used because it shows more accurate results of range finding. However, most of LRFs use laser source which have wavelength ranges harmful to the human eyes. In this study, we developed the LRF using OPO(Optical Parametric Oscillator) which can stretch laser wavelength to safe region and realized more compact one using solid state laser

• 한국항행학회논문지
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• 제13권2호
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• pp.187-193
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• 2009

렌즈는 고정밀 레이저 거리 측정기에서 중요한 핵심 부품의 하나이다. 렌즈는 레이저 다이오드로부터 나온 광을 렌즈를 통하여 목표물로 보내고 또한 표적을 통하여 반사된 레이저 광을 다시 수신하여 그 위상 변위를 측정함으로서 거리를 계산하는데 이용한다. 본 논문에서는 렌즈의 곡률이 일정하기 않음으로서 발생하는 문제를 해결하기 위하여, 광을 일정하게 모아, 송수신이 가능한 새로운 연마기법의 레이저 거리 계측기용 렌즈를 설계하고 이를 기반으로 한 레이저 거리계를 구현한다. 구현한 레이저 거리계는 기존의 방법에 비해 오차가 적어 보다 정밀한 거리 계측에 적용 가능할 것으로 예상하고 있다.

• 제어로봇시스템학회논문지
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• 제4권1호
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• pp.82-87
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• 1998

In this study, the theoretical resolution analysis of an active vision system using laser range finder is performed for surrounding recognition and 3D data acquisition in unknown environment. In the result, the resolution of range data in laser range finder is depend on the distance between lens center of CCD camera and light emitter, view angle, beam angle, and parameters of CCD camera. The theoretical resolutions of the laser range finders of various types which are based on parameters effected resolution are calculated and experimental results are obtained in real system.

• 제어로봇시스템학회논문지
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• 제13권1호
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• pp.39-45
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• 2007

This paper proposes a method of container position measurement using automatic landing system that is estimated by a laser range finder. In the most of container position measurement methods, CCD cameras or laser scanners have been used to get the source data. However those sensors are not only weak for disturbances, for examples, the light, fog, and rain, but also the system cost is high. When the spreader arrives at the goal position, it is still swung by inertia or by wind effect. In this paper, the spreader swung data have been used to find the container position. The laser range finder is equipped in the front side of spreader. It can measure distance and relative position between spreader and container. This laser range finder can be rotated as desired by a motor. And a tilt sensor is equipped on the spreader to measure spreader sway. The relative position information between the spreader and a container using the laser range finder and tilt sensor is estimated through the geometrical analysis.