NARROW AREA DETECTION AND MEASUREMENT SYSTEM USING LASER PULSE

Abstract

The invention relates to System (A), which enables narrow space detection and measurement, including a 3D lidar sensor (20), a computer system, data collection software, a ROS algorithm that enables / controls the actions that the vehicle must perform by providing narrow space detection, a wheel turn angle and speed adjustment system that controls the speed / movement of the vehicle, and a dynamic safety barrier system that enables autonomous vehicles to perceive their surroundings by detecting and mapping obstacles, structures, surface shapes and areas in the environment according to the data received from the lidar sensor (20), in places where safe navigation is required in narrow spaces such as automotive, industrial safety, autonomous vehicle technology, logistics, smart factory applications and building automation.

Description

1 TARIFF NARROW MINORITY USING LASER PULSE FIELD DETECTION AND MEASUREMENT SYSTEM TECHNICAL FIELD The invention has applications in automotive, industrial safety, autonomous vehicle technology, logistics, and smart factories. applications requiring safe navigation in confined spaces, such as building automation It relates to a narrow field detection and measurement system using laser pulses in various fields. 10 PREVIOUS TECHNIQUE Lidar, which stands for "Light Detection and Ranging," uses laser beams to... A remote sensing device used to measure the distance between objects and a measuring instrument. 15 Lidar is a technology that uses a laser to emit laser light at a specific wavelength. the emitter, a laser receiver to detect laser light at a specific wavelength, and to check the operation of the aforementioned laser emitter and the aforementioned laser receiver It includes a processing unit. Lidar devices typically contain a laser emitter that transmits the laser. The reflections of laser beams that strike objects in a volume where the laser beams are emitted are called laser 20. It determines the distance of objects based on their detection by its sensor. The distance determination mentioned is based on the time it takes for the laser light to leave the emitter and reach the receiver. This is based on the time of flight between the two locations. Computer-based distance determination of objects in the volume where laser light is emitted. A three-dimensional set of points is obtained. 25 There are many detection / measurement methods used in the current state of the art. However, because it does not operate at the required level of precision and accuracy. The need cannot be met, and the system and environmental safety remain at risk. is increasing. The currently used lidar methods and the problems encountered are 30%. This part is explained below. 2 Complex narrow field micro-radar array mapping system and method (Complex narrow space micro radar array mapping system and method) Disadvantages: — Low Resolution Problem: Micro-radar systems have a high resolution It may not provide an image. This is especially true for detailed obstacle detection. It may show limited performance in applications where it is critical. — Complex Algorithm Requirement: Creating 3D maps from micro-radar data, 10 It requires complex algorithms and intensive computational power. Therefore, the system has high energy consumption and high consumable needs. It reveals. — Sensitivity to Noise and Inaccurate Data: Micro-radar systems are sensitive to noise. It is sensitive and carries the risk of generating inaccurate data in complex environments. This also means... This can reduce the accuracy of mapping and increase the margin of error. Method for Recognizing Narrow Roads Using Robot and Narrow Road Navigation recognizing narrow road by robot and narrow road navigation method) 20 Disadvantages: — Complex Calculation Processes: Route planning within a narrow lane and Processes such as erosion algorithms, especially real-time processing 25 It can be complex and time-consuming in certain situations. — Susceptibility to errors in confined spaces: Especially in confined spaces, the robot's Choosing the wrong path or making a deviation risks veering out of the narrow lane. This can increase it. This situation requires a more advanced error code of 30 for reliable navigation. It requires a correction mechanism. 3 — Hardware and Sensor Sensitivity Requirements: Preciseness in confined spaces. the robot's sensors and motion algorithms to proceed in this way It needs to be extremely sensitive. This involves additional costs and hardware complexity. may lead to Vehicle profiling system using lidar sensor and tunnel collision notification. and method (Vehicle profiling extraction using lidar sensor and tunnel collision notification system and method) Disadvantages: 10 — High Data Processing Requirement: Combining data from multiple sensors. Ensuring scene understanding requires high data processing power. This, more This can lead to a need for powerful hardware, thus compromising the goal of low cost. It can make things more difficult. 15 — Difficulty Testing in Multiple Weather Conditions: The system faced challenges in difficult weather conditions such as fog. Although designed to operate in certain conditions, it can be used in various weather conditions. It requires extensive testing to ensure reliable performance. This could prolong the development process. 20 — Possibility of Misperception: The Boolean association tool can cause misperceptions. Although it is used to reduce, it completely eliminates all misconceptions. It can be difficult to eliminate. This is especially true for fast-moving vehicles. It can increase the margin of error for objects. 25 Consequently, due to the aforementioned drawbacks and shortcomings, the relevant The need for an innovation in the technical field has arisen. 4 THE PURPOSE OF THE INVENTION The overall purpose of the invention is to create a complete system that meets the requirements mentioned above. especially in the automotive sector, which eliminates disadvantages and brings some additional advantages. industrial safety, autonomous vehicle technology, logistics, smart factory applications and 5 Lasers are used in areas requiring safe navigation in confined spaces, such as building automation. It relates to a narrow field detection and measurement system using pulses. Due to the drawbacks of the previous technique, the invention, as described above, It aims to resolve the negative aspects. 10 The main purpose of the invention is to enable autonomous vehicles to detect confined spaces. It is developing a system. Another important objective of the invention is to track vehicle passage using lidar sensor data. It is the measurement of areas in terms of width. Another important objective of the invention is to provide different features for existing and newly designed / manufactured products. It can be integrated into existing vehicles. Another important objective of the invention is to reduce the risk of accidents by increasing safety in vehicles. integration with the hardware and software systems (ADAS) on board and the vehicle Autonomous operation in confined spaces by more accurately identifying hazards in its surroundings. The goal is to improve driving efficiency. Advantages of the Invention Over the Prior Art and the Innovations It Brings — Real-Time Narrow Field Detection: The algorithm analyzes point cloud data. By processing the data, it quickly identifies narrow spaces in the areas where the vehicle passes and He uses this information immediately. 30 — Specific Point Analysis: Narrow area analysis based on right and left corner points. It calculates the width, so that particularly difficult-to-access areas can be navigated. An evaluation is provided. — Dynamic Crossing Alerts: Crossing is not possible or is risky (5) the vehicle instantly adjusts its movements when zones are detected provides. Advantages it provides — Enhanced Environmental Awareness: The algorithm anticipates where the vehicle will move Maneuvering in confined spaces by analyzing whether the area is safe. It reduces the risk of bumping or pinching while doing so. — Safe and Efficient Rotation: Algorithm, real-time detection 15 with its ability to enable vehicles to move at a correct and safe speed in confined spaces. This provides benefits in narrow corridors and passageways where there is a risk of congestion. provides. — Real-time visualization and information: 20 narrow-area alerts visually transmitting the information to the operator or control system, It provides detailed information about the vehicle's current location and allows for immediate intervention. It allows. Problems Solved: 25 — Safe Maneuvering in Tight Spaces: By calculating the passage width, the vehicle It identifies areas where it will not fit or where the risk of collision is high, and It directs the vehicle's movements accordingly. 6 — Risk of Vehicle Being Stuck or Obstructed: By detecting narrow spaces, the vehicle risks in places where it could get stuck or its movement could be restricted It minimizes it. — Fast and Accurate Narrow Area Detection: Analyzes only the points in the required area. 5 This avoids unnecessary data processing load and ensures the system runs quickly. provides. This algorithm enhances safety, especially when navigating through tight or narrow spaces, and helps the vehicle It helps avoid risky crossings and provides operators or the control system with 10 It provides detailed information about the current situation in the area. The structural and characteristic features and all the advantages of the invention are given in the figures below. and thanks to the detailed explanation written by making references to these figures This will be understood more clearly, and therefore the evaluation will also be based on these forms and 15 This should be done taking into account the detailed explanation. 7 DESCRIPTION OF THE FIGURES Figure 1; Measurement of the distance between the lidar sensor and the obstacle, which is the subject of the invention. application view, Figure 2 shows an application view of the narrow-area measurement system described in the invention. REFERENCE NUMBERS A. Measurement system 10 10. Vehicle 20. Lidar sensor 21. Angle of propagation 30. Obstacle α. Angle between sensor and obstacle: 20 d. Distance between the sensor and the obstacle c. Distance / Width between obstacles a. Distance between sensor and obstacle b. Distance between the sensor and the obstacle t1. Laser beam travel time 30 t2. Laser beam return time. 8 DETAILED DESCRIPTION OF THE INVENTION The invention includes a 3D lidar sensor (20), a computer system, and data acquisition software; automotive, industrial safety, autonomous vehicle technology, logistics, smart factory 5 applications requiring safe navigation in confined spaces, such as building automation. In confined spaces, the vehicle can perform the necessary actions by detecting narrow areas. The ROS algorithm, which provides / controls the control of the vehicle's speed / movement, The wheel turning angle and speed adjustment system provides input from the lidar sensor (20). Based on the data, it identifies surrounding obstacles, structures, surface shapes, and areas. Dynamic 10, which enables autonomous vehicles to perceive their surroundings by mapping them. System that enables detection and measurement of narrow spaces including a safety barrier system (A) It is related to. Figure 1 shows the measurement of the distance between the lidar sensor (20) and the obstacle, which is the subject of the invention. application view, 15 Figure 2 shows an application view of the narrow-area measurement system described in the invention. The overall purpose of the invention is to create a complete system that meets the requirements mentioned above. especially in the automotive sector, which eliminates disadvantages and brings some additional advantages, 20 industrial safety, autonomous vehicle technology, logistics, smart factory applications and Lasers are used in areas requiring safe navigation in confined spaces, such as building automation. It relates to the narrow area detection and measurement system (A) using pulses. Due to the drawbacks of the previous technique, the invention, as described in all 25 points, It aims to resolve the negative aspects. The main purpose of the invention is to provide a measurement that enables autonomous vehicles to detect confined spaces. system (A) is developing. The invention includes a 3D lidar sensor (20), a computer system, and data acquisition software; automotive, industrial safety, autonomous vehicle technology, logistics, smart factory 9 applications requiring safe navigation in confined spaces, such as building automation System (A) that enables the detection and measurement of narrow spaces in buildings, its feature is; — enabling the vehicle to perform tasks by detecting confined spaces. The ROS algorithm that enables / controls the processes, 5 — wheel rotation that allows control of the vehicle's speed / movement. angle and speed adjustment system, — According to the data received from the lidar sensor (20), the obstacles in the environment (30), 10 by identifying and mapping structures, surface shapes and areas dynamics that enable autonomous vehicles to perceive their surroundings. It is characterized by including a safety barrier system. — the distance (d) between the lidar sensor (20) and the obstacle (30) is 15 as defined d = * ( ) , — where area detection and measurement are defined 𝑐 = 𝑎 + 𝑏 −2∗a∗b∗cos(180 − 2 ∝) It is characterized by the fact that it includes several steps in the process. 20 A 3D Lidar sensor (20) is used in front of the invention vehicle (10). Lidar The sensor (20) sends back laser pulses at the speed of light as its working principle. It is a sensor that measures distance using the rotation time. (Figure 1 shows it.) As seen, a LiDAR sends a pulse of time t1 at the speed of light to the obstacle. 25 This pulse returns to the Lidar at the speed of light, in a duration of t². The durations t¹ and t² are related to each other. They are equal. Their sum is called flight time. The distance to the obstacle... The following formula is used in the calculation of (d). d = * ( ) 30 LiDAR beams are used for width measurement. (Figure 2 shows this) A diagram has been created as shown. From the starting point, an equal distance α is drawn. Rays sent at an angle give us the side lengths a and b, respectively. When calculating the width, information about these sides and the angle between the sides is used. It is used. 5 Using the cosine theorem, the width is given in Equation 1. is calculated as follows: a) the distance measured from the right wall, b) the distance measured from the left wall. c represents the width and α represents the angle made with the origin. 𝑐 = 𝑎 + 𝑏 −2∗a∗b∗cos(180 − 2 ∝) In the implemented application, the autonomous vehicle continuously followed the methods described in the method section. It measures the width in this way. When the determined width measurement is made, the vehicle Information is being released that it is taking place in a narrow area. 15

Claims

11 REQUESTS 1. The invention consists of a 3D lidar sensor (20), a computer system, and data acquisition software. including; automotive, industrial safety, autonomous vehicle technology, logistics, smart Safe in confined spaces such as factory applications and building automation 5 Enables narrow space detection and measurement in locations requiring navigation. The system is (A) and its characteristic is; — enabling the vehicle to perform tasks by detecting confined spaces. The ROS algorithm that enables / controls the processes, 10 — wheel rotation that allows control of the vehicle's speed / movement. angle and speed adjustment system, — obstacles in the environment according to data received from lidar sensor (20), by identifying and mapping structures, surface shapes and areas Dynamic 15 that enables autonomous vehicles to perceive their surroundings. It is characterized by including a safety barrier system.

2. The invention relates to narrow spaces where safe navigation is required. The system that enables its detection and measurement is (A), and its feature is; — distance (d) between lidar sensor (20) and obstacle (30) as defined d = * ( ) , — area determination and measurement (c) defined 𝑐 = 𝑎 + 𝑏 −2∗a∗b∗cos(180 − 2 ∝) 25 It is characterized by the fact that it involves several steps in the process.

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