KR101040528B1 - Terrain sensor assembly and autonomous mobile platform - Google Patents

Abstract

The present invention is a rotatable driver that is rotatably installed about one axis in the main body is formed to be movable, a camera mounted on the rotatable drive and configured to take images around the main body, and rotates with the rotatable drive First and second radar drivers respectively coupled to the outer circumferential surface of the rotary driver and rotatably formed along the outer circumferential surface so as to be relatively rotatable with respect to the rotary driver, and mounted to the first radar driver. And a first radar configured to sense topographic information and a distance between the main body and a target object in a first area, and a second radar mounted on the second radar driver and overlapping at least a portion of the first area. A terrain sensor assembly comprising a second radar configured to sense topographic information and a distance between the main body and a target object; It provides an autonomous mobile platform comprising a.

Description

Terrain sensor assembly and autonomous platform with same {SENSOR ASSEMBLY FOR DETECTING TERRAIN AND AUTONOMOUS MOBILE PLATFORM HAVING THE SAME}

The present invention relates to a topography sensor assembly that senses surrounding topographical information using a plurality of sensors, and to an autonomous platform for determining and moving the topographic sensor.

Due to the development and development of advanced science and technology, various technologies are applied to the military field. In particular, advances in sensors and computer hardware have made it possible to unmanned combat systems.

Looking at the direction of technology development in the unmanned field, unmanned vehicles, or autonomous mobile platforms, perform mission functions such as surveillance, reconnaissance, hitting, command control, and explosive detection / removal. The systems of individual platforms are linked to broadband networks, allowing multiple platforms to perform systematic tasks in the visible / invisible environment.

Autonomous movement means using the computer that acts as the human brain and the sensors that act as the eyes, without human intervention, to recognize and judge the surrounding situation by itself. In order to enable autonomous movement, above all, accurate sensing means capable of sensing topographic information around the autonomous mobile platform is required.

Various kinds of sensors are used as the sensing means, and various studies have been made on the adoption, combination and arrangement of sensors capable of optimizing autonomous movement.

An object of the present invention is to propose a topography sensor assembly and an autonomous platform having the same, capable of optimally modeling three-dimensional space by arranging as few sensors as possible.

In order to achieve the above object of the present invention, the present invention, in the topography sensor assembly for sensing the surrounding topographic information, the rotational drive is rotatably installed around one axis in the main body is formed to be movable; A camera mounted to the rotary driver and configured to photograph an image around the main body, and coupled to an outer circumferential surface of the rotary driver so as to be rotated together with the rotary driver, so as to be relatively rotatable with respect to the rotary driver. First and second radar drivers each rotatable along an outer circumferential surface, and a first mounted on the first radar driver and configured to sense topographic information and a distance between the main body and a target object in a first area; Radar, and topography within a second area mounted to the second radar driver and overlapping at least a portion of the first area. Disclosed is a terrain sensor assembly including a beam and a second radar configured to sense a distance between the body and a target object.

According to an example related to the present invention, the rotary driver is formed with a guide groove recessed along the outer circumferential surface so as to guide the relative rotation of the first and second radar drivers relative to the rotary drive body, The first and second radar drivers are rotatably mounted in the guide grooves, respectively.

According to another example related to the present invention, the first radar driver is coupled to the guide groove and extends along one side wall of the guide groove from the first mounting portion to which the first radar is mounted, and the first mounting portion. And a first extending part formed, wherein the second radar driver is coupled to the guide groove and is formed to extend along the other side wall of the guide groove from the second mounting part, and the second mounting part on which the second radar is mounted. And a second extension part having one side facing the one side of the first extension part.

According to another example related to the present invention, the first and second radars are disposed on the same plane.

According to another example related to the present disclosure, the first and second radars are disposed at left and right sides with the camera interposed therebetween, and an angle between the first radar and the camera and the second radar and the camera. The angles in between have the same value as each other.

According to another example related to the present invention, the cameras are arranged to be spaced apart from each other at a predetermined interval, and are configured to capture a pair of stereo images of the same object so that a three-dimensional image can be generated. It includes a photographing unit.

According to another example related to the present invention, the first and second radars have the same field of view (FOV), and the first and second areas have a range of ± 90 ° relative to the front of the main body. The camera may be disposed at a predetermined angle from the camera so as to be detected repeatedly.

According to another example related to the present invention, the first and second radars are rotatably installed about an axis perpendicular to the one axis to the first and second radar drivers.

According to another embodiment related to the present invention, the terrain sensor assembly is mounted on the front surface of the rotational drive, and the obstacle in front of the body in a third region overlapping at least a portion of the first and second regions. It further comprises a third radar formed to sense.

According to another example related to the present invention, the third radar is formed of a frequency modulated continuous wave (FMCW) radar to adjust a sensing distance.

According to another embodiment related to the present invention, the terrain sensor assembly is mounted on the front surface of the rotational drive, and the terrain information and the main body in a fourth region overlapping at least a portion of the first to third regions. And a fourth radar configured to sense a distance from the target object.

In addition, in order to realize the above object, the present invention is a self-moving platform that is formed to sense, determine and move the surrounding topographic information using a plurality of radar, the main body having a moving means to be movable; A rotary driver rotatably coupled to the main body, a camera mounted on the rotary driver, first and second radar drivers, and first and second radars coupled to the first and second radar drivers, respectively. And configured to sense the topographic information and the distance between the main body and the target object in a fifth area including the topography sensor assembly and a rear surface of the main body and including a non-sensing area of the first and second radars. An autonomous mobile platform including a fifth radar is provided.

According to an example related to the present invention, the autonomous platform is mounted on the main body and the navigation sensor configured to sense the absolute position and attitude value of the surrounding terrain of the main body, and from the camera and the first and second radar The controller further includes a controller configured to generate a three-dimensional world model by combining absolute position and attitude values obtained from the navigation sensor with the generated distance data, and control autonomous movement of the main body based on the world model.

According to another example related to the present invention, the controller controls the rotation of the first radar driver so that the first radar driver rotates in the counterclockwise direction when the main body moves to the left, and the main body moves to the right. It is made to control the rotation of the second radar driver so that the second radar driver can be rotated in the clockwise direction during movement.

According to the present invention having the above-described configuration, since the first and the second radar driver having the first and the second radar, respectively, can be made relatively rotatable with respect to the rotary driver, it can cover a larger area, The small number of sensors allows for optimal three-dimensional spatial modeling.

In addition, by providing a fifth radar mounted on the rear surface of the main body, it is possible to cover the non-sensing areas of the first and second radars. That is, 360-degree omnidirectional sensing of the autonomous platform is possible.

According to the present invention, the control unit changes the sensing area of the first and second radar by rotating the first and second radar drivers respectively when the autonomous platform moves to the left and the right. This enables faster and more accurate terrain detection of the direction in which the autonomous platform moves.

1 is a perspective view of an autonomous platform according to an embodiment of the present invention.
FIG. 2 is a front view of the autonomous platform shown in FIG. 1. FIG.
3 is a plan view of the topography sensor assembly of FIG.
4 is a side view of the topography sensor assembly shown in FIG.
5 to 7 are first to third conceptual views illustrating one embodiment of an effective distance of a scanning area and data measurement of the autonomous platform of FIG. 1, respectively.
8 is a block diagram of the autonomous platform shown in FIG.

Hereinafter, the terrain sensor assembly and the autonomous platform having the same according to the present invention will be described in more detail with reference to the accompanying drawings. In the present specification, the same or similar reference numerals are assigned to the same or similar configurations in different embodiments, and the description thereof is replaced with the first description. As used herein, the singular forms "a", "an" and "the" include plural forms unless the context clearly indicates otherwise.

1 and 2 are perspective and front views, respectively, of an autonomous platform 10 according to an embodiment of the present invention.

1 and 2, the autonomous platform 10 is configured to sense, determine, and move the surrounding topographic information using a plurality of sensors. The autonomous platform 10 includes a main body 11, a topography sensor assembly 12, and a control unit 13.

The main body 11 has a plurality of wheels 111 so that the autonomous platform 10 can move the ground. The wheels 111 may be coupled to an arm 112 that is rotatably connected to the main body 11 so that the autonomous platform 10 may travel in fields and hills.

The main body 11 is rotatably installed a terrain sensor assembly 12 for sensing the topographic information around the autonomous platform 10. The terrain sensor assembly 12 includes a rotation driver 120, a camera 121, first and second radar drivers 126a and 126b, and first and second radars 122 and 123.

The rotary driver 120 forms a body of the topography sensor assembly 12 and is configured to mount a plurality of sensors. The rotary driver 120 may be installed at, for example, a front upper portion of the main body 11, and may be rotatable about an axis perpendicular to the ground. The rotary driver 120 may be disposed to protrude from the upper portion of the main body 11, and may be formed to protrude further from the main body 11 or be accommodated in at least a part of the main body 11 according to a situation.

The camera 121 is mounted on the front surface of the rotational drive 120 and is configured to capture an image around the main body 11. Specifically, the camera 121 is configured to take images for the terrain around the main body 11, the visualization of the object, lane recognition and world modeling (world modeling).

The camera 121 may be implemented in the form of a stereo camera including the first and second photographing units 121a and 121b. The first and second photographing units 121a and 121b are spaced apart from each other at specified intervals, and are formed to photograph a pair of stereo images of the same object so that a 3D image can be generated.

The stereo camera 121 estimates the variation of the acquired left and right images, and measures the distance between the main body 11 and the target object and three-dimensional distance data of the terrain information through a triangulation method. When the 3D distance data is projected based on the ground, an altitude map of the terrain is generated, and the altitude map is fused with data generated from the first and second radars 122 and 123 and used for 3D spatial modeling.

To recognize the lane, a lane recognition algorithm using a clustering technique may be used. In detail, the image of the road received through the camera 121 is divided into both sides based on the center pixel, and the sobel edge, which is a preprocessing process, is detected and thinned for each of the divided images. After that, clustering is performed by scanning an image and assigning an ID. A lane is formed by obtaining a linear equation for the clustered lane group, and a lane having the most similar width to the actual lane width is recognized. In this case, the error value may be reduced by updating the actual width of the lane.

The first and second radar drivers 126a and 126b form a space in which the first and second radars 122 and 123 can be mounted, respectively, and are rotatable together or independently of the rotary driver 120. Is done. In detail, each of the radar drivers 126a and 126b is coupled to the outer circumferential surface of the rotary driver 120 so that the radar driver 126a and 126b can be rotated together with the rotary driver 120, so as to be relatively rotatable with respect to the rotary driver 120. It is made rotatable along the outer circumferential surface.

The first and second radar drivers 126a and 126b may be disposed on the left and right sides of the rotary driver 120 with the camera 121 interposed therebetween. The first and second radar drivers 126a and 126b may be rotatably coupled by sliding along the outer circumferential surface of the rotary driver 120 in the counterclockwise and clockwise directions, respectively.

The first and second radars 122 and 123 are mounted to the first and second radar drivers 126a and 126b, respectively. The first radar 122 is formed to sense the distance information and the distance between the main body 11 and the target object in the first region 122 ′. The second radar 123 is formed to sense the terrain information and the distance between the main body 11 and the target object in the second area 123 'overlapping at least a portion of the first area 122'. The data generated from the first and second radars 122 and 123 is used for 3D spatial modeling together with the image captured by the camera 121 described above.

The first and second radars 122 and 123 may be spaced apart from each other at predetermined intervals so that the topographic information of the periphery of the main body 11 may be sensed in a panoramic manner. In addition, since the first and second radar drivers 126a and 126b are made to be relatively rotatable with respect to the rotary driver 120, respectively, an area detectable through the first and second radars 122 and 123 is expanded. Or it can be reduced and optimized for 3D spatial modeling with a small number of sensors.

The first and second radars 122 and 123 may be symmetrically mounted about the camera 121 on the first and second radar drivers 126a and 126b and may be disposed on the same plane. According to the above structure, when the first and second radars 122 and 123 have the same field of view (FOV), the same range of left and right can be continuously sensed without a break based on the camera 121. Can be. In addition, the overlapping portions of the first and second regions 122 ′ and 123 ′ may increase sensing points per unit time to more precisely sense the topographic information in front of the main body 11.

The third and fourth radars 124 and 125 may be additionally mounted to the rotary driver 120.

The third radar 124 may be disposed on the front surface of the rotary driver 120, for example, between the first and second radars 122 and 123. The third radar 124 is formed to sense an obstacle in front of the main body 11 in the third region 124 'overlapping at least a portion of the first and second regions 122' and 123 '.

The third radar 124 may be formed of a frequency modulated continuous wave (FMCW) radar to adjust the sensing distance. The FMCW radar is a method of continuously firing a frequency-modulated signal. The FMCW radar can realize high resolution and high sensitivity even with low transmitter power by using a characteristic in which the continuous frequency increases linearly.

The FMCW radar operates in the radar mode with long and narrow sensing areas when it is suitable for detecting long distance obstacles in view of the operating environment and purpose, and the radar with short and wide sensing areas when it is suitable for detecting near obstacles. Can be operated in mode. Accordingly, the autonomous platform 10 may detect an obstacle in the driving path more quickly and accurately.

The fourth radar 125 may be disposed on the front surface of the rotating driver 120, for example, the upper portion of the third radar 124. The fourth radar 125 may include the topographic information and the main body 11 and the target object in the fourth area 125 ′ overlapping at least a portion of the first to third areas 122 ′, 123 ′, and 124 ′. It is made to sense the distance. The fourth radar 125 acquires three-dimensional world modeling data in front of the main body 11 that becomes the driving path of the autonomous platform 10 to secure stability of autonomous driving.

The fifth radar 141 may be disposed on the rear surface of the main body 11. The fifth radar 141 is configured to sense topographic information behind the main body 11 and a distance between the main body 11 and the target object. Therefore, the fifth radar 141 mainly complements the first and second radars 122 and 123 which are configured to sense the front of the main body 11. That is, the fifth radar 141 covers the non-sensing areas of the first and second radars 122 and 123 to enable omnidirectional sensing of the 360 ° range of the autonomous platform 10.

The main body 11 includes a control unit 13 for controlling the autonomous movement of the autonomous mobile platform 10 and a wireless communication module for wireless communication in the form of electronic components. The main body 11 is equipped with a navigation sensor to sense the altitude value of the surrounding terrain of the main body 11.

The controller 13 is configured to combine the altitude value obtained from the navigation sensor with the distance data generated from the camera 121 and the first and second radars 122 and 123 to generate a three-dimensional world model. The controller 13 controls the autonomous movement of the main body 11 based on the three-dimensional world model.

The control unit 13 may allow the first and second radar drivers 126a to collect more accurate information about the direction in which the first and second radars 122 and 123 face the main body 11 when the main body 11 moves. , 126b). For example, the controller 13 rotates the first radar driver 126a counterclockwise when the main body 11 moves to the left, and rotates the second radar driver 126b when the main body 11 moves to the right. Rotate clockwise.

According to the above structure, the control unit 13 rotates the first and second radar drivers 126a and 126b counterclockwise and clockwise, respectively, when the autonomous platform 10 moves to the left and the right. The sensing area of the two radars 122 and 123 is changed. Therefore, it is possible to more quickly and accurately detect the topography of the direction in which the autonomous platform 10 moves.

3 and 4 are a plan view and a side view of the topography sensor assembly 12 of FIG.

3 and 4, the rotary driver 120 is formed with guide grooves 127 recessed along the outer circumferential surface of the rotary driver 120, and the first and second radar drivers 126a and 126b. Is rotatably mounted in the guide groove 127.

The guide groove 127 guides the relative rotation of the first and second radar drivers 126a and 126b with respect to the rotary driver 120. The first and second radar drivers 126a and 126b have a curved shape to cover a part of the outer circumferential surface of the rotary driver 120, and are slid along the outer circumferential surface to rotate about the axis of the rotary driver 120. Can be combined.

The first radar driver 126a has a first mounting portion 126a 'and a first extension portion 126a ″, and the second radar driver 126b also has a second mounting portion 126b' and a second extension portion. 126b ″. The description of the second mounting portion 126b 'and the second extension portion 126b ″ will be replaced with the description of the first mounting portion 126a' and the first extension portion 126a ″.

The first mounting portion 126a ′ is coupled to the guide groove 127 and forms a space to mount the first radar 122. The first extension part 126a ″ extends along one side wall of the guide groove 127 from the first mounting part 126a '. The second extension part 126b ″ is formed to extend along the other side wall of the guide groove 127 from the second mounting part 126b ′, and has one side facing one side of the first extension part 126a ″. .

The first radar driver 126a may be rotated counterclockwise along the guide groove 127. When the first radar driver 126a is rotated by a predetermined angle or more, one end of the first extension part 126a ″ may be rotated by the second mounting part 126b. Rotation can be limited. According to the above structure, the first and second radars 122 and 123 may be limited to spread beyond a specified angle with respect to the front of the main body 11.

The first and second radars 122 and 123 are disposed at left and right sides with the camera 121 interposed therebetween, and the angle between the first radar 122 and the camera 121 and the second radar 123 and Angles between the camera 121 may be made the same. The camera 121 and the third to fifth radars 124, 125, and 141 may be disposed on a central axis connecting front and rear sides of the main body 11.

The first and second radars 122 and 123 may be rotatably installed about an axis perpendicular to the rotation axes of the first and second radar drivers 126a and 126b. In this case, the first and second radars 122 and 123 sense three-dimensional information by sensing different topographic information and the distance between the main body 11 and the target object by rotation even when the autonomous platform 10 is stopped. World modeling data can be obtained.

5 and 6 are first and second conceptual views illustrating one embodiment of the effective range of the scanning area and data measurement of the autonomous platform 10 of FIG. 1, respectively.

In FIG. 5, the first and second radars 122 and 123 are installed to face a point of ± 35 ° with respect to the straight front (0 °) of the main body 11, respectively. In FIG. 6, ± 25 ° It is shown facing toward the point of. The first and second radars 122 and 123 may have the same watch, for example, a watch of 270 °.

In this case, the first radar 122 senses the topographic information of the first region 122 ′ corresponding to ± 135 ° from the first radar 122 and the distance between the main body 11 and the target object. . The second radar 123 also senses the topographic information of the second area 123 ′ corresponding to ± 135 ° from the second radar 123 and the distance between the main body 11 and the target object.

Overlapping portions of the first and second regions 122 ′ and 123 ′ (region corresponding to ± 100 ° in front of the main body 11 in FIG. 5, and ± 110 ° in front of the main body 11 in FIG. 6) The area} can increase the sensing point per unit time to more precisely sense the topographic information in front of the main body 11.

In addition, since the third radar 124 for detecting the long-range or short-range obstacles is mounted on the rotary driver 120, the obstacle in front of the main body 11 can be detected more quickly.

The rear surface of the main body 11 may be equipped with a fifth radar 141 formed to sense the topographic information behind the main body 11 and the distance between the main body 11 and the target object. The fifth radar 141 is a portion of the first and second radars 122 and 123 that the first and second radars 122 and 123 do not detect with respect to the straight rear (0 °) of the main body 11 (in FIG. An area including ± 10 °, and an area including ± 20 ° behind the main body 11 in FIG. 6.

The fifth radar 141 acquires obstacle detection behind or three-dimensional world modeling data in an area overlapping at least some of the first and second radars 122 and 123. The fifth radar 141 covers the non-sensing areas of the first and second radars 122 and 123 to enable omnidirectional sensing of the autonomous platform 10 in a 360 ° range.

The terrain sensor assembly 12 rotates the first and second radar drivers 126a and 126b to enable omnidirectional sensing of the autonomous platform 10 by 360 degrees without the fifth radar 141. Can be formed. The first and second radar drivers 126a and 126b are made to be relatively rotatable with respect to the rotary driver 120, respectively, so that the first and second radars 122 and 123 may be wider in some cases 360. Sensing omni-directional in the range) or more sensitively in narrow areas.

FIG. 7 is a third conceptual diagram illustrating another embodiment of the scanning area and the effective distance of data measurement of the autonomous platform 10 of FIG. 1.

The configuration and arrangement of the camera 121, the first to third and fifth radars 122, 123, 124, and 141 in FIG. 7 are the same as those described with reference to FIG. In the present exemplary embodiment, the autonomous platform 10 may include the topographic information and the main body 11 in the fourth region 125 ′ overlapping at least a portion of the first to third regions 122 ′, 123 ′, and 124 ′. The apparatus further includes a fourth radar 125 configured to sense a distance from the target object.

The fourth radar 125 may be mounted on the front surface of the rotating driver 120, for example, between the camera 121 and the third radar 124. The fourth radar 125 may be formed to detect an obstacle on the driving path of the autonomous platform 10 to block the hazard in advance. In addition, the fourth radar 125 acquires three-dimensional world modeling data in front of the main body 11 to secure stability of autonomous driving.

8 is a block diagram of the autonomous platform 10 shown in FIG.

Referring to FIG. 8, the control unit 13 may include a rotary drive controller 131, first and second radar drive controllers 132, a world modeling unit 133, a path plan generator 134, and a control signal generation. A portion 135 is included.

The rotary driver control unit 131 and the first and second radar driver control unit 132 respectively control the rotation of the rotary driver 120 and the first and second radar driver 126a and 126b. For example, when the main body 11 moves toward the left side, it is necessary to more quickly and accurately detect the topographical information on the left side. When the camera 121 and the radar remain in a fixed state, since the topographic information about the left direction can be detected only after the main body 11 completely turns to the left side, an immediate detection of the moving direction cannot be made.

The rotary driver control unit 131 rotates the rotary driver 120 in accordance with the moving direction of the main body 11, so that the topographic information on the moving direction of the main body 11 can be detected in advance and immediate response is possible. In addition, the first and second radar driver control unit 132 rotates the first and second radar drivers 126a and 126b, respectively, so that the first and second radar drivers 122 and 123 may be wider in some cases. Sensing an area, or more sensitively narrow areas.

The world modeling unit 133 combines the altitude values obtained from the navigation sensor with the distance data generated by the camera 121, the first and second radars 122 and 123, and generates three-dimensional data (point distribution map, point cloud). Can be generated. The ground can be expressed in a grid form by connecting the point distribution map in a mesh form, which is called world modeling.

The route plan generation unit 134 generates a route plan for the autonomous movement of the autonomous platform 10 based on the preset start and end points and the world modeling data generated as described above. That is, the route plan generation unit 134 sets the movement route that the autonomous platform 10 intends to drive, and also generates a final mobility map for the autonomous platform 10 to overcome or avoid obstacles. Create

The control signal generator 135 generates a control signal for the movement of the autonomous platform 10 based on the route plan as described above. Accordingly, the autonomous platform 10 performs the autonomous movement according to the route plan.

The above-described topographic sensor assembly and the autonomous platform having the same are not limited to the configuration and method of the above-described embodiments, but the embodiments may be selectively or partially replaced with each other so that various modifications may be made. It may be configured in combination.

Claims (14)

In the terrain sensor assembly for sensing the surrounding terrain information,
A rotary drive body rotatably installed around one axis on a main body formed to be movable;
A camera mounted to the rotating driver and configured to photograph an image around the main body;
First and second radar drivers respectively coupled to the outer circumferential surface of the rotary driver so as to rotate together with the rotary driver, and rotatably formed along the outer circumferential surface so as to be rotatable relative to the rotary driver;
A first radar mounted on the first radar driver and configured to sense topographic information and a distance between the main body and a target object in a first area; And
And a second radar mounted on the second radar driver and configured to sense topographic information and a distance between the main body and a target object in a second area overlapping at least a portion of the first area. Terrain sensor assembly. The method of claim 1,
The rotary driver is formed with guide grooves recessed along the outer circumferential surface to guide relative rotation of the first and second radar drivers with respect to the rotary driver.
And the first and second radar drivers are rotatably mounted to the guide grooves, respectively. The method of claim 2,
The first radar driver,
A first mounting part coupled to the guide groove and mounted with the first radar; And
And a first extension part formed to extend along one side wall of the guide groove from the first mounting part,
The second radar driver,
A second mounting part coupled to the guide groove and mounted with the second radar; And
And a second extension part formed to extend along the other side wall of the guide groove from the second mounting part and having one side facing the one side of the first extension part. The method of claim 3,
And the first and second radars are arranged on the same plane. The method of claim 1,
The first and second radars are disposed on the left and right sides with the camera interposed therebetween,
And the angle between the first radar and the camera and the angle between the second radar and the camera are the same. 6. The method of claim 5,
The cameras are arranged to be spaced apart from each other at a predetermined interval, and the topography detection, characterized in that it comprises a first and a second photographing unit is formed to shoot a pair of stereo images for the same object to generate a three-dimensional image Sensor assembly. 6. The method of claim 5,
The first and second radars have the same field of view (FOV), and the first and second radars can be detected from the camera so that the first and second areas can detect a range of ± 90 ° with respect to the front of the main body. Terrain sensor assembly, characterized in that arranged at a set angle. The method of claim 7, wherein
And the first and second radars are rotatably installed on the first and second radar drivers about an axis perpendicular to the one axis. The method of claim 1,
And a third radar mounted on a front surface of the rotating driver and configured to sense an obstacle in front of the main body in a third region overlapping at least a portion of the first and second regions. Detection sensor assembly. The method of claim 9,
And the third radar is formed of a frequency modulated continuous wave (FMCW) radar to adjust a sensing distance. The method of claim 10,
And a fourth radar mounted on a front surface of the rotating driver and configured to sense topographic information and a distance between the main body and a target object in a fourth region overlapping at least a portion of the first to third regions. Terrain sensor assembly, characterized in that. In the autonomous mobile platform is formed to sense, determine and move the surrounding topographic information using a plurality of radar,
A main body having a moving means to be movable;
A topography sensor assembly according to any one of claims 1 to 11; And
And a fifth radar mounted on a rear surface of the main body and configured to sense topographic information and a distance between the main body and a target object in a fifth area including the non-sensing areas of the first and second radars. Autonomous platform featured. The method of claim 12,
A navigation sensor mounted to the main body and configured to sense an absolute position and an attitude value of the surrounding terrain of the main body; And
It is formed to combine the absolute position and attitude values obtained from the navigation sensor with the distance data generated from the camera and the first and second radar to generate a three-dimensional world model, based on the world model Autonomous platform, characterized in that it further comprises a control unit for controlling the autonomous movement. The method of claim 13,
The control unit,
Controls the rotation of the first radar driver so that the first radar driver can be rotated counterclockwise when the main body moves to the left,
And control the rotation of the second radar driver so that the second radar driver rotates clockwise when the main body moves to the right.

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