• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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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.

• Proceedings of the KIEE Conference
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• 2006.04a
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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.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.9 no.1
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.4
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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.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.7
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• pp.3214-3219
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• 2011

Nowadays, we live in the age of highly developed information technology. The information industry is growing rapidly and it is making remarkable changes in our life. Among the information technologies, laser range finder can be used to measure distance in difficult environment. In this paper, we have designed and constructed the laser range finder for many purposes such as industry or leisure in difficult environment. Using the proposed laser range finder enables us to measure distance easily using timing discriminator between transmitter and receiver for industry or leisure.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.10a
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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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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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

• Journal of Advanced Navigation Technology
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• v.13 no.2
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• pp.187-193
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• 2009

A lens which is one of cores for the high precision laser range finder is utilized to compute the distance by measuring the phase displacement. In order to measure the phase displacement, we transmit the optical signal from the laser diode to a target and receive the reflected laser light from the target. In this paper, we propose new lens design technique to solve the problem due to the inconsistent curvature of the lens, which consistently collects optical signals and performs the transmission and reception of the optical data, and test the implementation of the laser range finder based on the proposed technique. Since the proposed laser range finder has low error rate comparing to the conventional techniques, it may be apply to the high precision distance measurement.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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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.