KR101792343B1

KR101792343B1 - Infrared ray projector module with micro lens array for output patten of matrix and 3 dimensional scanner using the same

Info

Publication number: KR101792343B1
Application number: KR1020150143887A
Authority: KR
Inventors: 김양규; 이동길; 이광훈; 장원근; 심하몽; 김성준; 한부전
Original assignee: 한국광기술원
Priority date: 2015-10-15
Filing date: 2015-10-15
Publication date: 2017-11-01
Also published as: KR20170044332A

Abstract

The present invention provides a matrix light source pattern irradiating infrared projector module using a microlens array which improves the processing speed of reconstruction processing of three-dimensional data by increasing the resolution of acquired data and outputting a regularly shaped cloud pattern, and a three-dimensional scanner using the same . To this end, the present invention provides a light source comprising: a light source for outputting light having an arbitrary wavelength range; A lens unit for converting the light output from the light source unit to diverge; And a microlens array unit for converting the light emitted from the lens unit into a micro beam having a regular pattern and outputting a plurality of microlenses arranged at regular intervals. Therefore, the present invention can increase the output of the regularly shaped matrix pattern and the resolution of the acquired data to improve the processing speed of the reconstruction processing of the three-dimensional data, and prevent loss of the light source and deterioration of resolution by excluding the configuration of the diffuser There is an advantage that a clear pattern recognition is possible.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an infrared projector module for illuminating a matrix light source pattern using a microlens array, and a three-dimensional scanner using the module.

The present invention relates to a matrix light source pattern irradiating infrared projector module using a microlens array and a three-dimensional scanner using the same. More particularly, the present invention relates to a method and apparatus for increasing the resolution of acquired data by outputting regularly shaped cloud patterns, The present invention relates to an infrared projector module for irradiating a matrix light source pattern using a microlens array having improved reconstruction processing speed, and a 3D scanner using the same.

In general, various camera systems are used to obtain image information about an object.

For example, Microsoft developed and released a Kinect sensor as a new object input device. Kinetic is a compound of Kinetic and Connector. Means a device to be connected.

Using this, it is possible to connect to XBOX-360 game device and to detect human movement in real time by leaving input device such as keyboard, mouse, joystick, etc., thus providing a groundbreaking environment that has never been experienced before. .

In addition, in an attempt to apply Kinect sensors to a variety of applications, Microsoft launched Kinect For Windows, a commercial version that can be used in embedded devices, Kinect For Windows SDK (Software Development Kit) "for easy use of Kinect sensor devices on the base-based embedded device.

As a result, Kinect For Windows is attracting attention as the next generation interface for cutting edge IT equipment such as digital signage, kiosks, smart TVs and medical devices.

Such a Kinect sensor is composed of an infrared projector module capable of tracking the external shape and movement of an object, an RGB color camera, a 3D Depth sensor, and the like, and is disclosed in Korean Patent Publication No. 10-2009-0079658 : Composite image generation apparatus and method thereof) discloses a three-dimensional scanning apparatus that extracts an object using infrared rays.

However, the infrared projector module included in the conventional three-dimensional scanning device is constructed such that the cloud pattern is irradiated using the diffraction optical system and the diffuser.

FIG. 1 is an exploded perspective view showing a configuration of an infrared projector module according to the related art. FIG. 1 is an exploded perspective view showing a configuration of a conventional infrared projector module. A diffuser 40 in which a cloud pattern 41 is formed and a microlens array 50 in which a reference point 51 is formed.

Although the conventional three-dimensional scanning device equipped with the infrared projector module is configured to acquire three-dimensional data using the cloud pattern 41 emitted from the infrared projector module, the optical system using the diffuser has a large loss of the light source, The pattern 41 is not clear, which makes it difficult to recognize a clear pattern of the camera, which lowers the resolution of acquired data.

Further, there is a problem that a high optical output (power) is required to compensate for a lost light source.

In addition, the cloud pattern according to the prior art has a problem that the initial calibration process for 3D scanning takes a long time due to an irregular pattern, and the speed of reconstruction processing of 3D scanning and 3D data is delayed in real time through image processing.

In addition, the conventional infrared projector module has a structure in which necessary components are individually arranged, complicating the process of assembling many components and components.

Korean Patent Publication No. 10-2009-0079658 (2009. 07.22)

In order to solve this problem, the present invention provides a matrix light source pattern irradiating infrared projector module using a microlens array which improves the processing speed of reconstruction processing of three-dimensional data by increasing the output of regularly shaped cloud patterns and resolution of acquired data, And to provide a three-dimensional scanner using the same.

According to an aspect of the present invention, there is provided a light source comprising: a light source for outputting light having an arbitrary wavelength range; A lens unit which has a plane of incidence or a plane close to a plane and has an aspheric surface with an arbitrary curvature so as to convert the light output from the light source unit into a linear light; And a plurality of microlenses arranged at predetermined intervals forming an arbitrary pattern are divided into a microlens having an arbitrary regular pattern by dividing the linear light emitted from the lens unit through a pattern in which the microlenses are arranged, And outputs it to the micro lens array unit.

Further, the lens unit according to the present invention is characterized in that it is an aspherical toric lens in which the curvature Rx in the x-axis direction and the curvature Ry in the y-axis direction are different from each other.

In addition, the lens unit according to the present invention is formed by at least one of Fly-Cutting and Dry-Cutting using NCD (Natural Crystal Diamond) Bite.

The microlens array part according to the present invention is characterized in that hemispherical microlenses are arranged in a matrix pattern.

In addition, the microlens according to the present invention is characterized in that the diameter is 20 占 퐉 to 50 占 퐉.

According to another aspect of the present invention, there is provided a light source device comprising: a light source unit for outputting light having an arbitrary wavelength range; A lens unit which has a plane of incidence or a plane close to a plane and has an aspheric surface with an arbitrary curvature so as to convert the light output from the light source unit into a linear light; And a plurality of microlenses arranged at predetermined intervals forming an arbitrary pattern are divided into a microlens having an arbitrary regular pattern by dividing the linear light emitted from the lens unit through a pattern in which the microlenses are arranged, And a micro-lens array unit for outputting the micro-beam array output from the micro-lens array unit, and an infrared ray detection unit for extracting image data of the object to be measured by photographing a pattern of the micro- A detection unit; The depth detecting unit and the color detecting unit, and calculates outline data and depth data of the object to be measured through the image data extracted by the depth detecting unit. The color image data of the object to be measured acquired by the color detecting unit, A control unit for generating a composite image using the data and the depth data; And a color detection unit for extracting color image data of the object to be measured including red, green and blue colors. Preferably, the auxiliary light source unit includes a light source for irradiating the light source with the object to be measured, And further comprising:

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Further, the infrared ray detector according to the present invention is one of an infrared ray sensor and an infrared ray camera.

Also, the control unit may calculate at least one of depth data (point data) and depth data (depth data) by using at least one of a projector, an infrared ray detection unit, a triangle measurement using a position of a light reflected on a measured object, Is calculated.

The present invention has the advantage of increasing the output of the regularly shaped matrix pattern and the resolution of the acquired data, thereby improving the reconstruction processing speed of the three-dimensional data.

In addition, the present invention can prevent the loss of the light source and the degradation of the resolution by excluding the configuration of the diffuser, and thus it is possible to recognize a clear pattern.

Further, the present invention is advantageous in that the structure is simple and the manufacturing process can be improved.

1 is an exploded perspective view showing a configuration of an infrared projector module according to a related art.
2 is an exploded perspective view illustrating a matrix light source pattern irradiating infrared projector module using a microlens array according to the present invention.
3 is a plan view of a lens unit of a matrix light source pattern irradiating infrared projector module using a microlens array according to the present invention.
4 is a plan view showing a microlens array of an infrared projector module irradiating a matrix light source pattern using a microlens array according to the present invention.
5 is a perspective view illustrating a three-dimensional scanner using an infrared projector module irradiating a matrix light source pattern using a microlens array according to the present invention.
FIG. 6 is a block diagram illustrating a configuration of a three-dimensional scanner using an infrared projector module irradiating a matrix light source pattern using the microlens array according to FIG. 5;
FIG. 7 is a block diagram showing a depth detector of a 3D scanner using an infrared projector module irradiating a matrix light source pattern using the microlens array according to FIG. 5;
8 is a view for explaining a distance measuring process of a 3D scanner using an infrared projector module irradiating a matrix light source pattern using a microlens array according to FIG.
FIG. 9 is a view for explaining a distance measuring process of a 3D scanner using an infrared projector module irradiating a matrix light source pattern using a microlens array according to FIG. 5; FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a preferred embodiment of a matrix light source pattern irradiating infrared projector module using a microlens array according to the present invention and a three-dimensional scanner using the same will be described in detail with reference to the accompanying drawings.

(Projector)

FIG. 2 is an exploded perspective view showing a matrix light source pattern irradiating infrared projector module using a microlens array according to the present invention, and FIG. 3 is a plan view showing a lens unit of a matrix light source pattern irradiating infrared projector module using a microlens array according to the present invention And FIG. 4 is a plan view showing a microlens array of a matrix light source pattern irradiating infrared projector module using a microlens array according to the present invention.

2 to 4, a matrix light source pattern irradiating infrared projector 100 using a three microlens array according to the present invention includes a light source unit 110, a lens unit 120, a microlens array unit 130, .

The light source unit 110 may be constructed using a semiconductor laser, a glass laser, a YAG laser, a carbon dioxide laser, a cyan laser, or the like to output light having an arbitrary wavelength (for example, And is preferably composed of a semiconductor laser which amplifies and outputs infrared rays.

In the present embodiment, the infrared light is amplified and outputted. However, the present invention is not limited to this, and the laser light may be changed to a laser that amplifies and outputs visible light, green light, and blue light.

The lens unit 120 is arranged to be spaced apart from the light source unit 110 by a predetermined distance and converts the point light output from the light source unit 110 to be emitted as linear light, It is preferable to construct a toric lens.

The exit surface of the lens portion 120 is formed of an aspherical surface having an arbitrary curvature. Preferably, the exit surface has a curvature Rx in the x-axis direction, And the curvature Ry in the y-axis direction are different from each other.

The lens unit 120 is processed by a fly-cutting method using NCD (Natural Crystal Diamond) bite. When processed into a plastic material, in order to prevent oil absorption and chipping in NCD bite, NCD It can be processed using Fly-Cutting and Dry-Cutting methods using Bite.

The microlens array unit 130 is spaced apart from the lens unit 120 by a predetermined distance and includes a plurality of microlenses 131 arranged at predetermined intervals in a linear shape emitted from the lens unit 120, Which is a rectangular pattern having a predetermined size.

The microlens array unit 130 includes hemispherical microlenses 131 arranged in a matrix pattern so that light emitted through the lens unit 120 passes through a matrix pattern of the microlenses 131 And can be divided into a micro beam having a regular cloud pattern.

The microlenses 131 are formed of a convex lens having a diameter of 20 탆 to 50 탆. When the diameter of the microlenses 131 is 40 탆, the microlenses 131 have a constant size (e.g., 10 mm x 10 mm) About 40,000 microlenses 131 may be provided in the microlens array unit 130. [

Next, the operation of the matrix light source pattern irradiating infrared projector module using the microlens array according to the present invention will be described.

When light of a point shape is generated and output from the light source unit 110, the light is incident through the incident surface of the lens unit 120, and is converted into linear light having a uniform light distribution on the emission surface and emitted.

The light emitted from the lens unit 120 is incident on a microlens 131 regularly arranged in the microlens array unit 130. The light output through the microlens 131 is converted into a micro beam, By outputting a matrix pattern in accordance with the arrangement of the microlenses 131 regularly arranged in the microlens array unit 130, it is possible to provide a lightweight, compact, improved optical performance and a regular cloud pattern of the optical module do.

(scanner)

FIG. 5 is a perspective view of a three-dimensional scanner using a matrix-type light source pattern irradiating infrared-ray projector module using the microlens array according to the present invention, FIG. 6 is a perspective view showing a matrix- FIG. 7 is a block diagram showing a depth detector of a scanner using a matrix light source pattern irradiating infrared projector module using a microlens array according to FIG. 5; FIG.

First, repetitive descriptions of the same components as those of the projector module are omitted, and the same reference numerals are used for the same components.

5 to 7, a scanner 200 using a matrix light source pattern irradiating infrared projector module using a microlens array according to the present invention includes a housing 201, a depth detector 210, a controller 220, A color detection unit 230, and an auxiliary light source unit 240.

The housing 201 is a rectangular shaped member having a storage space formed therein to allow the depth detector 210, the controller 220, the color detector 230, and the auxiliary light source 240 to be installed, A handle 202 is provided on one side for easy gripping.

The depth detector 210 is installed on one side of the housing 201 and outputs a micro beam having an arbitrary regular pattern as a measured object, receives the reflected micro beam from the measured object, And includes a projector 100 and an infrared ray detection unit 211. The infrared ray detection unit 211 detects the infrared ray.

The projector 100 includes a light source unit 110 for outputting light having a predetermined wavelength range, a lens unit 120 for converting the light output from the light source unit 110 to be emitted, And a microlens array unit 130 for converting a plurality of microlenses 131 arranged at regular intervals into microwaves having a regular matrix pattern and outputting the microwaves.

The infrared ray detector 211 is configured to photograph a pattern of a microbeam reflected from a subject and extract image data of the object to be measured from the pattern of the microbeam output from the projector 100, Is composed of one of an infrared sensor and an infrared camera, preferably an infrared camera, and more preferably an infrared CMOS camera.

The control unit 220 controls the operations of the depth detector 210 and the color detector 230 and analyzes the image data of the measured object extracted by the depth detector 210 to extract the outline data of the measured object and the depth data And generates a composite image using the color image data of the object to be measured acquired by the color detector 230, the outline data, and the depth data.

In addition, the depth data may be obtained by reflecting the infrared ray output from the projector 100 on the object to be measured and then receiving the infrared ray by the infrared ray detector 211, The three-dimensional data can be generated through the data, and the triangulation method using the projector 100, the infrared ray detection unit 211, and the position of the light reflected on the object to be measured, The depth data can be calculated by comparing the spot size of the microbeam reflected from the measurement object.

When the microbeam is projected on the object to be measured, the depth data calculation by the triangulation method causes a change of the pattern on the object plane, which is an interval where the depth information changes, 1 and 2, the depth information can be calculated.

Here, D is the moved disparity of the pointer in the object area, B is the distance between the projector and the infrared detector, Zo is the distance from the infrared detector to the reference surface, and Zk is the distance from the infrared detector to the object to be measured.

Here, d is the parallax recorded on the sensor of the infrared detection part, and f is the distance from the pointer to the sensor of the infrared detection part.

8, the distance L between the light source L and the infrared CMOS (C) is spaced a certain distance (B), the distance Zo from the infrared CMOS (C) to the reference plane, Zk) can be expressed as Equation (3) by calculating the value of D in Equation (2), and depth information can be calculated. Therefore, it is possible to quickly calculate depth data through a regularly shaped matrix pattern.

The calculation of the depth data by comparing the spot size of the microbeam reflected from the reference surface and the object to be measured can be performed by using the microbeam as shown in Fig. The depth data can be calculated by comparing the spot sizes (S1, S2, S3) in the spot size (P).

That is, when the micro-beam having a predetermined spot size is output as a matrix pattern in the projector 100, the micro beam of the output matrix pattern is divided into a reference spot S1 reflected from the reference surface and a first spot S2 and the second spot S3 are extracted from the infrared ray detecting unit 211 and the depth data is calculated by comparing the extracted reference spot S1 with the sizes of the first and second spots S2 and S3 .

The controller 220 controls the color detector 230 and the arbitrary pixel of the calculated depth data to match the calculated depth data with the RGB (red, green, and blue) data acquired by the color detector 230. [ Dimensional image of the depth data obtained by the depth detector 210 in the three-dimensional space by up-sampling the corresponding pixels in the RGB image obtained in the depth detector 210, A pixel is expressed in a coordinate system in a three-dimensional space to determine a pixel value.

Accordingly, the controller 220 can improve the depth data calculation speed of the pixel using the matrix pattern, thereby improving the reconstruction processing speed of the three-dimensional data.

The color detecting unit 230 is installed on one side of the housing 201 to extract color image data of the object to be measured including RGB (red, green, blue) And acquires the texture information of the scanner.

The auxiliary light source unit 240 is installed on one side of the housing 201 to irradiate a light source around the object to be measured and the object to be measured so as to improve the illumination environment of the scan space, So that color image data having a further increased resolution can be extracted.

Therefore, it is possible to improve the processing speed of the reconstruction processing of the 3D data by increasing the output of the regularly shaped matrix pattern and the resolution of the acquired data, and it is possible to prevent loss of the light source and deterioration of resolution by excluding the configuration of the diffuser, Pattern recognition becomes possible.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims. It can be understood that

In the course of the description of the embodiments of the present invention, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation, , Which may vary depending on the intentions or customs of the user, the operator, and the interpretation of such terms should be based on the contents throughout this specification.

100: Projector
110: light source
120:
130: Micro lens array part
131: micro lens
200: Scanner
201: housing
202: Handle
210: depth detector
211: infrared ray detector
220:
230: Color detection unit
240: auxiliary light source part

Claims

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A light source 110 for outputting light having an arbitrary wavelength range, and Fly-Cutting and Dry-Cutting using NCD (Natural Crystal Diamond) bite. The incident surface has a flat or nearly curved surface, The plane is an aspherical surface having an arbitrary curvature so that the light output from the light source 110 is converted to be emitted as linear light. The curvature Rx in the x-axis direction and the curvature Ry in the y- A plurality of hemispherical microlenses 131 having a diameter of 20 to 50 mu m are arranged at regular intervals to form linear light beams emitted from the lens portion 120, And a microlens array part (130) for dividing the microlenses (131) through a pattern in which the microlenses (131) are arranged and outputting microwaves converted into a matrix pattern shaped according to the arrangement of the microlenses (131) And an infrared camera for photographing a pattern of a microbeam reflected from the object to be measured and for extracting image data of the object to be measured, the pattern of the microbeam output from the projector 100 210);
Controls the operations of the depth detector 210 and the color detector 230 and calculates the contour data and the depth data of the object to be measured through the image data extracted by the depth detector 210. In the color detector 230, A control unit (220) for generating a composite image using color image data of the acquired measured object, the outline data and depth data;
A color detecting unit (230) for extracting color image data of the object to be measured including red, green and blue; And
An auxiliary light unit 240 for increasing the color image data extraction resolution of the color detector 230 by irradiating the measured object and a light source to the periphery of the measured object so that color data can be easily captured at a low illuminance, A three - dimensional scanner using an infrared projector module for illuminating a matrix light source pattern using a microlens array.

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The method according to claim 6,
The control unit 220 may use at least one of a projector 100 and an infrared ray detector 211 and a spot size comparison of the microbeam reflected on the object to be measured and a triangle measurement using the position of the light reflected on the object to be measured And the depth data is calculated based on the depth data. The three-dimensional scanner using the infrared projector module irradiates the matrix light source pattern using the microlens array.