JP5985661B2 - 走査深度エンジン - Google Patents
走査深度エンジン Download PDFInfo
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- JP5985661B2 JP5985661B2 JP2014557150A JP2014557150A JP5985661B2 JP 5985661 B2 JP5985661 B2 JP 5985661B2 JP 2014557150 A JP2014557150 A JP 2014557150A JP 2014557150 A JP2014557150 A JP 2014557150A JP 5985661 B2 JP5985661 B2 JP 5985661B2
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Description
本特許出願の譲受人に譲渡されているPCT国際公開WO2012/020380号は、照射モジュールを含んでいるマッピングのための装置を記載しており、同PCT国際公開の開示をここに参考文献として援用する。このモジュールは、放射線のビームを発射するように構成されている放射線源と、ビームを受信し、選択されている角度範囲に亘ってビームを走査するように構成されている走査器と、を含んでいる。照射光学器は、走査ビームを投射して、関心領域に亘って広がるスポットのパターンを作成する。撮像モジュールが、関心領域中のオブジェクトへ投射されているパターンの画像を捕捉する。プロセッサが、オブジェクトの三次元(3D)マップを構築するために当該画像を処理する。
図1は、本発明の或る実施形態による、深度マッピングシステム20の概略絵図である。システムは、1つ又はそれ以上のオブジェクトを含んでいる関心体積(VOI)30中の3D光景情報を捕捉する走査深度エンジン22をベースにしている。この例では、オブジェクトは、少なくとも、ユーザー28の身体の諸部分を備えている。エンジン22は、深度データを包含する一連のフレームをコンピュータ24へ出力し、するとコンピュータは高位情報をマップデータから処理、抽出する。この高位情報は、例えば、コンピュータ24上を走るアプリケーションであってディスプレイスクリーン26を然るべく駆動するアプリケーションへ提供されるようになっていてもよい。
図3は、本発明の或る実施形態による光学ヘッド40の要素を示す概略絵図である。送信器44は、光のパルスを偏光ビームスプリッタ60へ向けて発射する。典型的に、送信器60の光の経路に直接入っているビームスプリッタの小区域のみは反射のために被覆されるが、ビームスプリッタの残部は戻される光が受信器48へ通過してゆくのを許容するように完全に透過性である(又は反射防止被覆が施されていることすらある)。送信器44からの光は、ビームスプリッタ60に反射し、次いで折り曲げミラー62によって走査用マイクロミラー46へ向けて方向付けられる。MEMS走査器64は、マイクロミラー46をX方向及びY方向に所望の走査周波数及び振幅で走査する。マイクロミラー及び走査器の詳細は付随する図に示されている。
図3に示されている様に、個々の光学的及び機械的構成要素から成る光学ヘッド40の組み立ては、精密整列を要し、費用が嵩まないとも限らない。代わりの実施形態では、精密な設置及び整列を要する全ての部分(例えば、光送信器、受信器、及び関連光学器)は、シリコン光学ベンチ(SiOB)又は他の型式のマイクロ光学ベンチ、例えばアルミナ、窒化アルミニウム、又はガラス(Pyrex(登録商標))の様な半導体又はセラミック基板ベースのマイクロ光学ベンチ、の様なマイクロ光学基板上の単一集積型モジュールパッケージに組み合わせることができる。この手法は、費用を節約でき、深度エンジンを扱い易いものにすることができる。
本発明の或る実施形態によるビーム送信器170を概略的に描いている図11A−図11Cをこれより参照してゆく。図11Aはビーム送信器全体の側面図であり、図11B及び図11Cは、それぞれ、送信器170中に使用されているビーム生成器172の側面図及び後面図である。送信器170は、特に、上に説明されている型式の光学走査ヘッドに一体化させることのできる光電子工学式モジュールに使用するのに適しており、この種のモジュールが以下に更に説明されている。また一方で、この型式の送信器は、コンパクトなソースが強くて十分に制御されている出力ビームを生成することを要求される他の用途に使用することもできよう。
以上に説明されている実施形態は光景から戻される走査光を検出するのに単一の検出器要素(例えばAPD)を使用しているが、他の種類の検出器構成が代わりに使用されてもよい。例えば、光検出器の直線状アレイがこの目的に使用されてもよく、その場合には、光景からの光の捕集に使用されるミラーは、アレイの軸に直角をなす単一方向に走査するだけでよい。この同じ一次元走査ミラーを、検出器アレイの瞬時視野へ一筋のレーザー放射線を投射するのに使用することができる。その様なシステムは、更に、一次元走査に沿った走査パターン及び振幅を変更することによって1つの軸で実現させることのできるズーム機能性が見込まれる。
22 走査深度エンジン
24 コンピュータ
26 ディスプレイスクリーン
28 ユーザー
30 関心体積(VOI)
32、34、36 ウインドウ
38 ビーム
40 光学ヘッド
42 制御器(プロセッサ)
44 送信器
46 走査ミラー
48 受信器
50 深度処理論理
52 MEMS制御回路
53 レーザー駆動部
54 レーザー制御回路
55 受信器制御回路
56 アナログ/デジタル変換器(A2D)
57 パワー変換器
58 USBポート
60 偏光ビームスプリッタ
62 折り曲げミラー、折り返しミラー
64 MEMS走査器
68 半導体基板
70 スピンドル
72 支持体
74 スピンドル
76 回転子
78 磁心
80 導線コイル
82 マイクロミラーユニット
84 スピンドル
86 Y支持体
88 スピンドル
90 X支持体
92 スピンドル
100 光電子工学式モジュール
102 シリコン光学ベンチ(SiOB)
104 レーザーダイ
106 駆動部チップ
108 折り返しミラー
110 レンズ
112 プリズム
114 アバランシェ・フォトダイオード(APD)ダイ
116 トランスインピーダンス増幅器(TIA)
117 光電子工学式モジュール
118 ミラー
119 追加のレンズ要素
120 光電子工学式モジュール
122 台座
124 ビームスプリッタ
126 透明板
130 光電子工学式モジュール
134 ボールレンズ
135 溝
136 折り返しミラー
137 カバーガラス
138 ビーム拡大器
140 捕集レンズ
142 ビーム結合器
144 反射器
146 ビームスプリッタ
150 ビーム結合器
152 透明基板
154 反射性被覆
156 ビームスプリッタ性被覆
158 反射防止性被覆
160 光電子工学式モジュール
162 カバーガラス
164 コリメーションレンズ
166 捕集レンズ
170 ビーム送信器
172 ビーム生成器
175 コリメーションレンズ
176 マイクロレンズ
178 表面発光デバイス
180 光学基板
182 ビーム生成器
183 基板
184 透明ブランク
185 ワイヤボンド
186 ビーム送信器
188 ビーム生成器
190 光電子工学式モジュール
192 マイクロ光学基板
194 受信器
196 ビーム結合器
198 反射性被覆
200 ビームスプリッタ被覆
202 正面窓
204 裏面窓
210 光電子工学式モジュール
212 ビーム結合器
214 反射性被覆
216 ビームスプリッタ被覆
220 光電子工学式モジュール
220 二焦点レンズ
224 ビーム結合器
226 正面窓
228 裏面窓
230 送信ビーム
232 受信ビーム
Claims (15)
- マッピング装置において、
光のパルスを備えるビームを発射するように構成されている送信器と、
前記ビームを光景上の事前に定義されている走査範囲内に走査するように構成されている走査器と、
前記光景から反射される前記光を受信するように、及び前記光景中の点までの及び前記光景中の点からの前記パルスの飛行時間を指し示す出力を生成するように、構成されている受信器と、
前記走査器を制御して前記ビームに前記走査範囲内の選択されているウインドウ一面を走査するよう仕向けるように、及び前記受信器の出力を処理して前記選択されているウインドウ内にある前記光景の部分の3Dマップを生成するように、連結されているプロセッサと、を備え、
前記プロセッサは、1回目の走査の段階で、前記光景の第1の3Dマップを生成し、該第1の3Dマップ中のオブジェクトを識別するように、前記受信器の前記出力を処理し、且つ第2回目の走査の段階では、前記識別されたオブジェクトを包含するように優先的に走査するべき前記ウインドウを選択することによって、前記ビームの少なくとも前記1回目及び前記2回目の走査毎に、走査するべき異なったウインドウを選択するようにし、且つ、前記2回目の走査の段階で、前記選択されているウインドウを、前記1回目の走査に対比して増強された解像度及びより高いフレームレートの内の少なくとも一方で走査するようにして前記走査器を駆動するように構成されている、マッピング装置。 - 前記1回目の走査は前記走査器の前記走査範囲全体を網羅している、請求項1に記載の装置。
- 少なくとも数回の走査について、前記選択されているウインドウは前記事前に定義されている走査範囲内の中心にはない、請求項1又は2に記載の装置。
- 前記走査器は、マイクロ電子機械システム(MEMS)技術を使用して作製されたマイクロミラーを備えており、前記送信器は前記ビームを前記マイクロミラーから前記光景に向けて反射するよう方向付けるように構成されている、請求項1から3の何れか1項に記載の装置。
- 前記マイクロミラーは、2つの軸周りに回転するように構成されており、前記プロセッサは、前記ウインドウを定義するために、前記軸のうちの少なくとも一方の軸周りの前記マイクロミラーの回転範囲を制御するように連結されている、請求項4に記載の装置。
- 前記マイクロミラーは、2つの軸周りに回転するように構成されており、前記プロセッサは、前記ウインドウを定義するために、前記軸のうちの少なくとも一方の軸周りの前記マイクロミラーの回転速さを変えるように連結されている、請求項4又は5に記載の装置。
- 前記走査器は、
基板であって、前記マイクロミラー及び支持体を、当該マイクロミラーを前記支持体へ第1の軸に沿って接続している第1スピンドル及び当該支持体を前記基板へ第2の軸に沿って接続している第2スピンドルと一体に、画定するようにエッチングされている基板と、
前記マイクロミラー及び前記支持体に前記第1スピンドル及び前記第2スピンドル周りに回転するよう仕向ける電磁式駆動部と、を備えている、請求項4から6の何れか1項に記載の装置。 - 前記電磁式駆動部は、
空隙を有する少なくとも1つの磁心及び前記磁心に巻かれている少なくとも1つのコイルを備える固定子組立体と、
前記マイクロミラー及び前記支持体が取り付けられていて、前記少なくとも1つのコイルを通して流される電流に応えて前記空隙内で動くように当該空隙中に懸下されている、少なくとも1つの回転子と、を備えており、
前記少なくとも1つの磁心及び前記少なくとも1つの回転子は、2つの心及び当該心のそれぞれの空隙中に懸下されている2つの回転子を備えており、前記電磁式駆動部は、前記マイクロミラーがラスターパターンで走査するように前記2つの心のコイルに差動電流を流して当該マイクロミラー及び前記支持体に異なったそれぞれの速さで回転するよう仕向けるように構成されている、請求項7に記載の装置。 - 前記電磁式駆動部は、前記マイクロミラーに前記第1スピンドル周りに回転の共振周波数である第1の周波数で回転するよう仕向けるとともに、前記支持体に前記第2スピンドル周りに前記第1の周波数より低い第2の周波数で回転するよう仕向ける、請求項7または8に記載の装置。
- 前記第2の周波数は、回転の共振周波数ではない、請求項9に記載の装置。
- 前記受信器は、前記光景からの前記マイクロミラーを介した前記反射光を受信するように構成されている検出器を備えており、
前記装置は、前記送信器によって発射される前記ビームを前記マイクロミラーに向けて方向付ける一方で前記反射光が前記検出器に到達するのを許容するように位置付けられているビームスプリッタを備えており、前記発射ビームと前記反射光は、前記ビームスプリッタと前記マイクロミラーの間に平行であるそれぞれの光軸を有している、請求項4から10の何れか1項に記載の装置。 - 前記ビームスプリッタは、当該ビームスプリッタの表面の一部のみを覆う偏光反射性被覆でパターン形成されていて、前記表面の前記パターン形成された部分が前記送信器からのビームを遮り当該ビームを前記マイクロミラーに向けて反射するように位置付けられており、
前記ビームスプリッタは、前記送信器の発射帯域の外の光が前記受信器に到達するのを防ぐように構成されている帯域通過被覆を当該ビームスプリッタの裏面に備えている、請求項11に記載の装置。 - 前記装置は、マイクロ光学基板を備えており、前記送信器と前記受信器は一体に前記マイクロ光学基板上に単一集積パッケージとして取り付けられている、請求項11又は12に記載の装置。
- 前記プロセッサは、前記送信器によって発射される前記パルスのパワーレベルを、1つ又はそれ以上の以前のパルスへの応答における前記受信器からの前記出力のレベルに応じて可変に制御するように構成されている、請求項1から13の何れか1項に記載の装置。
- マッピングのための方法において、
光のパルスを備えるビームを光景上の事前に定義されている範囲内に走査するように走査器を動作させる段階と、
前記光景から反射される前記光を受信し、前記光景中の点までの及び前記光景中の点からの前記パルスの飛行時間を指し示す出力を生成する段階と、
異なるウインドウを選択して、前記ビームの少なくとも1回目及び2回目の走査を行う間に、前記走査器を制御して前記ビームに前記走査範囲内の選択されているウインドウ一面を走査するように仕向ける段階と、
前記受信器の前記出力を処理して前記選択されているウインドウ内にある前記光景の部分の3Dマップを生成する段階と、
を備え、
前記受信器の前記出力を処理する段階が、前記1回目の走査の段階で、前記光景の第1の3Dマップを発生し、前記第1の3Dマップ中のオブジェクトを識別するように、前記出力を処理することを含み、
前記走査を制御する段階が、前記2回目の走査の段階で、前記識別された物体を含むように優先的に走査するウインドウを選択し、且つ前記第2の走査段階で、前記選択されているウインドウを、前記1回目の走査に対比して増強された解像度及びより高いフレームレートの内の少なくとも一方で走査するようにして前記走査器を駆動することを含む、方法。
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