KR101824328B1 - 3-D scanner and the scanning method using the chromatic aberration - Google Patents

Abstract

The present invention relates to a 3D scanner and a scanning method using a chromatic aberration. More specifically, the 3D scanner includes a chromatic aberration lens that generates chromatic aberration according to the refractive index of each wavelength of light, an image sensor that acquires image signal data, and a calculation processing part (500) which compares sharpness according to the wavelength of light in the image signal data, determines the depth of an object (1) based on the wavelength with the highest sharpness and a focal distance according to the wavelength of light, and generates 3D shape data. It is possible to acquire the 3D shape data quickly and accurately.

Description

A three-dimensional scanner using a chromatic aberration and a scanning method using the three-dimensional scanner and a scanning method using the chromatic aberration,

The present invention relates to a three-dimensional scanner and a scanning method using chromatic aberration. More particularly, the present invention relates to a three-dimensional scanner and a scanning method using chromatic aberration, Dimensional scanner and a scanning method for performing processing.

3D modeling technology is a technology to acquire three-dimensional shape information of a three-dimensional object. It is a technology that not only looks at the shape of a patient's teeth in a conventional dentistry but also is a core technology of a 3D printer, There are many studies on modeling technology for reproducing and duplicating.

Conventionally, a simple technique such as a gutting using a gypsum or the like has been utilized. Recently, various scanning techniques using a light source 110 have been developed due to development of optical technology and sensing technology.

One of the most used 3D modeling techniques using light sources is a technique utilizing a chromatic confocal, and Korean Patent No. 1628730 discloses a technique related thereto.

FIG. 1 is a view schematically showing a conventional technique of performing 3D scanning using a chromatic confocal. Referring to FIG. 1, a light beam irradiated to a measurement object through some pixels of a DMD is focused on a different focus according to a wavelength (color) by a chromatic aberration lens. The light is reflected again, . At this time, if the height of the measurement object is at a specific wavelength (color) focal distance, the light of the corresponding wavelength (color) is received most strongly in the pixel portion of the image sensor corresponding thereto.

FIG. 2 is a view schematically showing a pixel lighting method of the DMD applied to the conventional technique. 2, in order to reduce the crosstalk phenomenon between the lighted pixels, the number of measurement points to be simultaneously measured in parallel is reduced, and one area block (dotted rectangle portion) region for pixel scanning is enlarged shall.

However, in order to obtain the scanning data in the above-described manner, it takes a lot of time since the pixels must be sequentially moved within one block and moved several times. Therefore, when the patient moves during scanning or when the scanning apparatus is manually carried, it is difficult to perform accurate scanning.

Accordingly, a precise 3D scanning technique that minimizes the number of image capturing operations and performs efficient data processing is required more than ever in order to obtain accurate scanning information at a high speed, out of a method requiring a large number of photographing times as described above.

Korean Patent No. 1628730

An object of the present invention is to compare the sharpness of the light of the image signal data to determine the depth of the object 1 based on the wavelength with the highest sharpness and the focal length of the light, Dimensional scanner and a scanning method using chromatic aberration that obtains fast and accurate three-dimensional cubic shape data by performing efficient data processing while minimizing the number of image capturing operations.

A three-dimensional scanner using a chromatic aberration according to an embodiment of the present invention includes a light irradiation unit 100 including a light source 110 that emits light; A chromatic aberration lens 200 for generating chromatic aberration according to the refractive index of each light emitted from the light irradiating unit 100; An image sensor 400 that senses light 20 reflected from a target object through the chromatic aberration lens 200 to acquire image signal data; And determining a depth of the object 1 based on the wavelength of the light with the highest sharpness and the focal length of the light by comparing the sharpness of the light of the image signal data by the wavelength of the light to generate three- And an operation processing unit 500.

The three-dimensional scanner using the chromatic aberration according to an embodiment of the present invention includes a color discriminating mirror 300 (a dichroic mirror) for reflecting the light 20 reflected from the object through the chromatic aberration lens 200 to the image sensor 400 mirror).

The light irradiating unit 100 further includes a spatial light modulator (SLM) 120 that allows the light to change a pattern irradiated on the object 1, It is possible to obtain the video signal data when the video signal data when the first pattern is irradiated on the object 1 before the pattern is changed and the second pattern after the pattern is changed are irradiated on the object 1.

The spatial light modulator 120 may be one of a pattern mask film, a digital micromirror device (DMD), a liquid crystal display (LCD), or a liquid crystal on silicon (LCOS) Or more.

The arithmetic processing unit 500 can determine the depth of the object 1 corresponding to each pattern area by calculating the sharpness of each pattern area of the video signal data reflected from the object 1 in correspondence with the pattern.

The light source (110) includes two or more individual light sources (111) that emit light having wavelengths different from each other, and the light irradiating unit (100) irradiates the light having the different wavelengths to the object (1) And a reflector 130 for irradiating the reflector 130 with light.

The light irradiating unit 100 further includes an error correcting light source 140 for diverging light having a single wavelength and irradiates the error correcting light source 140 to the object 1 that has already obtained accurate dimensional data And an error corrector 600 for correcting optical errors including spherical aberration and / or distortion components of the chromatic aberration lens 200 by comparing the scanned electrical image signal data with the accurate dimensional data.

The three-dimensional scanner using the chromatic aberration according to an embodiment of the present invention includes a driving unit for adjusting the distance between the light source 110 and the chromatic aberration lens 200 or adjusting the distance between the light source 110 and the object 1 .

The three-dimensional scanning method using a chromatic aberration according to an embodiment of the present invention includes: a step in which a light source 110 of a light irradiation unit 100 emits light; Generating a chromatic aberration by the chromatic aberration lens 200 according to the refractive index of the light emitted from the light irradiating unit 100; Sensing the light (20) reflected from the object through the chromatic aberration lens (200) by the image sensor (400) to obtain electrical image signal data; And the arithmetic processing unit 500 compares the sharpness of the light with respect to the wavelength of the light of the image signal data to determine the depth of the object 1 based on the wavelength with the highest sharpness and the focal length of the light And acquiring stereoscopic shape data.

Dimensional scanning method using a chromatic aberration according to an embodiment of the present invention is a method in which a dichroic mirror 300 passes light 20 reflected from a target object through the chromatic aberration lens 200 to an image sensor 400 ), As shown in FIG.

The light irradiating unit 100 further includes a spatial light modulator (SLM) 120 that allows the light to change a pattern irradiated on the object 1, It is possible to obtain the video signal data when the video signal data when the first pattern is irradiated on the object 1 before the pattern is changed and the second pattern after the pattern is changed are irradiated on the object 1.

The spatial light modulator 120 may be one of a pattern mask film, a digital micromirror device (DMD), a liquid crystal display (LCD), or a liquid crystal on silicon (LCOS) Or more.

The step of the arithmetic processing unit 500 for determining the depth of the object 1 and generating the stereoscopic shape data includes calculating the sharpness of each of the pattern areas of the video signal data reflected from the object 1 corresponding to the pattern The depth of the object 1 corresponding to the pattern area can be determined.

The light source 110 includes two or more individual light sources 111 that emit light having wavelengths different from each other, and the reflecting mirror 130 of the light irradiating unit 100 is configured to overlap the light having the two or more different wavelengths And irradiating the object 1 with an optical path.

The three-dimensional scanning method using a chromatic aberration according to an embodiment of the present invention may further include a step in which the error correcting light source 140 of the light irradiating unit 100 emits light having a single wavelength, The correcting dimensional light source 140 is irradiated on the object 1 having the accurate dimensional data and the electrical image signal data scanned is compared with the accurate dimensional data to obtain spherical aberration and / or distortion elements of the chromatic aberration lens 200 And correcting the optical error to be included.

The image signal data includes a plurality of unit unit grid image signal data generated through a micro lens array (MLA) 700 in which light microscopic lenses 710 are arranged in a lattice form , The operation processing unit 500 determines the depth of the object 1 and generates stereoscopic shape data based on the focal distance of the unit grid image signal data that has passed through the microlens array 700 1) can be determined.

The error correcting light source 140 of the light irradiating unit 100 further includes a step of diverging light having a single wavelength and the error correcting unit may further include an error correcting light source 140 in the object 1, And correcting an optical error including the spherical aberration and / or distortion component of the chromatic aberration lens 200 by comparing the scanned electrical image signal data with the accurate dimensional data.

The image signal data includes a plurality of unit unit grid image signal data generated by passing the light through the micro lens array (MLA) 700 in which the microscopic lenses 710 are arranged in a lattice form And the calculation processing unit 500 determines the depth of the object 1 and generates the stereoscopic shape data based on the focal distance of the unit grid image signal data that has passed through the microlens array 700, It is possible to determine the depth of the object 1.

The step of the calculation processing unit 500 for determining the depth of the object 1 and generating the stereoscopic shape data includes the steps of calculating the depth of the object 1 by using the focal length function having the wavelength value of the light corresponding to the video signal data as a variable, Can be determined.

According to an aspect of the present invention, a method of generating a three-dimensional shape data by irradiating a pattern (such as a check pattern) to an object to be measured and sensing it with the image sensor 400 and then performing an arithmetic operation, It is not necessary to consider the interference signal from the viewpoint of signal processing such as crosstalk in the prior art and efficient data processing is performed while minimizing the number of times of image photographing to acquire fast and accurate three dimensional cubic shape data have.

FIG. 1 is a view schematically showing a conventional technique of performing 3D scanning using a chromatic confocal.
FIG. 2 is a view schematically showing a pixel lighting method of the DMD applied to the conventional technique.
FIG. 3 is a view schematically showing a three-dimensional scanner using a chromatic aberration according to an embodiment of the present invention.
FIG. 4 shows a pattern (a) formed by a spatial light modulator (SLM) of a three-dimensional scanner using a chromatic aberration according to an embodiment of the present invention, image signal data b ) And the image signal data (c) acquired by the image sensor when the object is at the focal distance.
FIG. 5 schematically shows a sharpness curve of (b) when the focal distance of the image signal data acquired by the image sensor of the three-dimensional scanner using the chromatic aberration according to an embodiment of the present invention is not matched with (a) FIG.
FIG. 6 is a schematic view illustrating a case where a light irradiating unit of a three-dimensional scanner using a chromatic aberration includes a reflecting mirror according to an embodiment of the present invention.
FIG. 7A is a schematic view illustrating a case where the light irradiating unit of the three-dimensional scanner using the chromatic aberration according to an embodiment of the present invention includes two or more individual light sources that emit light having wavelengths different from each other.
FIG. 7 (b) is a view schematically illustrating a case where light irradiating units of a three-dimensional scanner using a chromatic aberration according to an embodiment of the present invention irradiate light having wavelengths different from each other to a target using one light source.
FIG. 8 is a schematic view illustrating a method of calibrating a three-dimensional scanner using chromatic aberration according to an embodiment of the present invention. Referring to FIG.
9 is a view schematically showing an example of an image sensor of a three-dimensional scanner using a chromatic aberration according to an embodiment of the present invention.
FIG. 10 is a view schematically showing a three-dimensional scanner using a chromatic aberration, including a microlens array (MLA) according to an embodiment of the present invention.
11 is a view schematically showing a three-dimensional scanner using a chromatic aberration according to an embodiment of the present invention including a polarization unit.
FIG. 12 is a view schematically illustrating a process of generating a point cloud by acquiring image signal data after irradiating patterned light onto a target object by a three-dimensional scanner using a chromatic aberration according to an embodiment of the present invention.
13 is a view schematically showing a three-dimensional scanning method using a chromatic aberration according to an embodiment of the present invention.

The present invention will now be described in detail with reference to the accompanying drawings. Hereinafter, a repeated description, a known function that may obscure the gist of the present invention, and a detailed description of the configuration will be omitted. Embodiments of the present invention are provided to more fully describe the present invention to those skilled in the art. Accordingly, the shapes and sizes of the elements in the drawings and the like can be exaggerated for clarity.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise.

Further, the term "part" in the description means a unit for processing one or more functions or operations, which may be implemented by hardware, software, or a combination of hardware and software.

FIG. 3 is a schematic view of a three-dimensional scanner 1000 using a chromatic aberration according to an embodiment of the present invention.

3, a three-dimensional scanner 1000 using a chromatic aberration according to an embodiment of the present invention includes a light irradiation unit 100, a chromatic aberration lens 200, an image sensor 400, and an operation processing unit 500 Lt; / RTI >

The three-dimensional scanner using the chromatic aberration shown in FIG. 3 is according to one embodiment, and the components shown in FIG. 3 are not limited to the embodiment shown in FIG. 3, and may be added, changed or deleted as necessary . In the following description, a detailed description of known components other than the main components will be omitted.

The light irradiation unit 100 may include a light source 110 that emits light. The light source 110 may be one, but may include two or more individual light sources 111 that emit light having wavelengths different from each other.

The light irradiating unit 100 may further include a spatial light modulator (SLM) 120 that allows the light to change a pattern irradiated on the object 1. The spatial light modulator 120 may be a pattern film mask patterned in a predetermined pattern, a pattern mask film, a digital micromirror device (DMD), a liquid crystal display (LCD) Or a liquid crystal on silicon (LCOS). The above-mentioned form is only an example, and may be applied to any film, mask, optical apparatus, and the like, as long as the light can be irradiated to the object 1 in a predetermined pattern.

Changing the pattern of the light irradiated to the object by the spatial light modulator 120 includes not only reversing the contrast but also changing the pattern shape, modulating the wavelength distribution of light, or changing the color.

FIG. 6 is a schematic view illustrating a case where a light irradiation unit 100 of a three-dimensional scanner using a chromatic aberration includes a reflector 130 according to an embodiment of the present invention.

6A and 6B, the light irradiating unit 100 further includes a reflector 130 for irradiating light having the different wavelengths to the object 1 in an overlapping or adjacent optical path . The reflector 130 may correspond to a mirror, a lens, a prism, or the like, which reflects light to form a specific optical path.

The chromatic aberration lens 200 can generate a chromatic aberration according to the refractive index of the light emitted from the light irradiating unit 100 for each wavelength. Generally, when light passes through a convex lens or a concave lens, the refractive index differs depending on the wavelength of the light, and the shorter the wavelength, the higher the refractive index. Therefore, depending on the refractive index of each wavelength of light, the degree of refraction of each wavelength differs depending on the chromatic aberration.

Generally, in the case of glasses, a technology for suppressing or preventing chromatic aberration is important because a person plays a negative role in accurately recognizing objects when the chromatic aberration is high. On the other hand, in the case of the technique of measuring the distance using the chromatic aberration as in the technical field to which the present invention belongs, it is important to appropriately increase the chromatic aberration. Accordingly, the chromatic aberration lens 200 of the three-dimensional scanner using the chromatic aberration according to an embodiment of the present invention plays a role of generating or increasing chromatic aberration.

The chromatic aberration lens 200 may be a variable focus lens that can change the degree of chromatic aberration by controlling the focal distance.

The image sensor 400 may acquire image signal data by sensing the light 20 reflected from the object through the chromatic aberration lens 200. The image sensor 400 may be one of a charge coupled device (CCD) or a CMOS image sensor (CIS). Also, the image sensor 400 may have a structure in which a plurality of transparent image sensor layers (Transparent Image Sensor Layers) are arranged in a layered structure.

The image sensor 400 may be a color image sensor 410 capable of recognizing all visible light or a monochromatic image sensor 420 capable of recognizing only one color.

FIG. 8 is a view schematically showing an example of an image sensor of a three-dimensional scanner using a chromatic aberration according to an embodiment of the present invention.

8 (a) shows a case where all visible rays are recognized by using the color image sensor 410, and FIG. 8 (b) shows a case where a single color image sensor 420 are used to recognize one color. 8 (b), in order to determine whether the object 1 exists at the focal distance of light at various wavelengths using the image signal data obtained by irradiating light having a specific wavelength to be described later and the focal distance function, In this case, the sensing color wheel 430 and the sensing driving motor 440 may selectively include only a specific color of light.

As described above, the light irradiation unit 100 may further include a spatial light modulator (SLM) 120 that allows the light to change the pattern irradiated on the object 1, The sensor 400 can acquire respective video signal data before and after the pattern is changed. That is, the image sensor 400 detects the image signal data when the object 1 is irradiated with the first pattern before the pattern is changed, and when the object 1 is irradiated with the second pattern, So that the video signal data can be obtained.

The arithmetic processing unit 500 determines the depth of the object 1 based on the wavelength of the light with the highest sharpness and the focal length of the light by comparing the sharpness of each of the image signal data by the wavelength of the light, Lt; / RTI >

5 shows a case where the focal length of the image signal data acquired by the image sensor 400 of the three-dimensional scanner using the chromatic aberration according to the embodiment of the present invention is not matched (Fig. 5 (a) b) of FIG.

5, when the white light is irradiated to the object 1 and the reflected light is received by the image sensor 400 and converted into the image signal data, when the object 1 is located at the focal distance of the white light The sharpness is high as shown in FIG. 5 (a), but when the object 1 is not at the focal distance of white light, the sharpness is low as shown in FIG. 5 (b).

Preferably, the light source 110 of the light irradiation unit 100 may use an individual light source 111 that emits light having a wavelength different from that of the individual light sources 111, for more accurate measurement than when white light is used.

FIG. 7A schematically shows a case where the light irradiation unit 100 of a three-dimensional scanner using a chromatic aberration according to an embodiment of the present invention includes two or more individual light sources 111 that emit light having wavelengths different from each other. Fig.

The individual light sources 111 that emit light having the different wavelengths are light sources that emit light having different wavelength distributions. Except in extremely rare cases such as lasers, it is difficult to realistically realize a light source having only one wavelength, and chromatic aberration does not occur, making it difficult to use the light source as a light source for a light irradiation part. Therefore, the light emitted from the light source 110 of the light irradiating unit 100 of the present invention may be a composite of various wavelengths, and the individual light source 111 that emits the light having the different wavelength may be a That is, a light source 110 that emits light having a different wavelength distribution.

7A, the light source 110 includes three LED individual light sources 111 having wavelengths of λ ₁ , λ ₂ , and λ ₃ , respectively, and the light irradiation unit 100 has the wavelengths And a reflector 130 for irradiating the object 1 with light having wavelengths λ ₁ , λ ₂ , and λ ₃ , respectively, which are overlapped or adjacent to each other. For example, light having a wavelength of λ ₁ may be blue light, light having a wavelength of λ ₂ may be green light, and light having a wavelength of λ ₃ may be red light. Note that in this example, the number of different wavelengths is three, but the number of different wavelengths may be two or four, and the number of wavelengths and the type of light source 110 may vary according to specific embodiments .

The arithmetic processing unit 500 may compare the sharpness of each of the light signals with respect to the wavelength of the light of the image signal to determine the depth of the object 1 based on the wavelength with the highest sharpness and the focal distance of the light.

For example, when the light irradiator 100 sequentially irradiates the object 1 with light having wavelengths λ ₁ , λ ₂ , and λ ₃ , respectively, and the image sensor 400 acquires the respective image signal data, the calculation processing unit 500 has the three of the light focused by calculating the each pattern region by sharpness of the picture signal data is the depth of the object (1) corresponding to the pattern region having a wavelength of each of λ _1, λ _2, λ ₃ distance It can be judged whether or not it is applicable.

As described above, the light source 110 may include two or more individual light sources 111 that emit light having wavelengths different from each other. In this case, the calculation processing unit 500 may calculate the amount of light corresponding to the video signal data The depth of the object 1 can be determined using the focal length function having the wavelength value as a variable.

The focal length function P _n can be expressed as:

P _n = f _n (? ₁ ,? ₂ ,? ₃ )

That is, the focal length function P _n can generate focal lengths of various wavelengths using the wavelengths λ ₁ , λ ₂ , and λ ₃ as parameters. The focal length function P _n is a function having the parameters λ ₁ , λ ₂ , and λ ₃ as variables, and it can be known only by a calibration process how exactly the function is composed.

FIG. 8 is a schematic view illustrating a method of calibrating a three-dimensional scanner using chromatic aberration according to an embodiment of the present invention. Referring to FIG.

The calibration process will be described in detail with reference to FIG. In the calibration, a three-dimensional scanner 1000 using a chromatic aberration according to the present invention is positioned on one side and a calibration target 30 is placed on a pedestal 50 on the other side. The pedestal 50 is connected to the transfer unit 40 and moves the pattern 50 a little by a small distance. The pedestal 50 irradiates pattern pattern light onto the reference surface specimen to acquire respective image signal data. If the distance between the 3D scanner using the chromatic aberration according to the present invention and the reference plane specimen 30 is z, the pixels near the pattern boundary of each image signal data acquired while moving a predetermined distance from z ₁ to z _n , The correct focal length function P _n = f _n (λ ₁ , λ ₂ , λ ₃ ) can be obtained by using the wavelengths λ ₁ , λ ₂ , and λ ₃ as variables by comparing the sharpness with the computation processing and data conversion. Accordingly, as the calibration is performed while moving the small distance by a small distance, that is, the higher the value of n, the more accurate the calibration can be performed.

When the calibration process is completed, a three-dimensional scanner using a chromatic aberration according to an embodiment of the present invention can detect two or three individual light sources 111 without irradiating the object 1 with individual light sources 111 having n different wavelengths The depth of an object corresponding to n focal lengths can be accurately measured even if only the light source 111 is used.

The three-dimensional scanner using the chromatic aberration according to the embodiment of the present invention reverses the lightness and darkness of light irradiated to the object 1 by utilizing the spatial light modulator 120 without using a plurality of individual light sources 111, It is possible to accurately measure the depth of the object corresponding to the focal length of each lens.

The spatial light modulator 120 can change the pattern of light irradiated on the object 1, so that the object 1 can be irradiated with light by toggling each time so that the contrast of the pattern is reversed. In this case, the image sensor 400 can acquire the video signal data before irradiating the object 1 with the first pattern before the pattern is changed, that is, before changing the contrast of the pattern. Further, it is also possible to acquire the video signal data after irradiating the object 1 with the second pattern after the pattern is changed, that is, after changing the contrast of the pattern. In this case, the distance to the bright region of the pattern can be measured, and the dark region can be inverted to the bright region to measure the distance to the remaining unmeasured region.

Further, the spatial light modulator 120 can change the shape of the pattern, modulate the wavelength distribution of the light, or change the color, so that the spatial light modulator 120 can be applied to various embodiments to perform efficient data processing and scanning.

For example, when the spatial light modulator 120 modulates the wavelength distribution of the light with respect to the object 1 at the same distance, the image sensor 400 obtains the image signal data before changing the wavelength distribution of light and the wavelength distribution of the light Since the image signal data after the change can be obtained, the image calculation processing as in the case of irradiating light of two different wavelengths is possible.

As described above, in the conventional technique in which 3D scanning is performed using chromatic confocal, a pixel for irradiating light to the object 1 must be moved several times while being turned on, .

On the other hand, in the case of a three-dimensional scanner using a chromatic aberration according to an embodiment of the present invention, light is irradiated to the object 1 by toggling each time so that the contrast of the pattern is inverted in the spatial light modulator 120, And the depth of the object 1 is computed and calculated, the measurement time can be remarkably shortened. That is, the spatial light modulator 120 can be operated twice to determine all the depths of the entire object 1 using only the video signal data of two frames photographed once.

The three-dimensional scanner using the chromatic aberration according to an embodiment of the present invention includes a color discriminating mirror 300 (a dichroic mirror) for reflecting the light 20 reflected from the object through the chromatic aberration lens 200 to the image sensor 400 mirror). The color separating mirror 300 reflects the light and changes the optical path in a specific direction. Since the position of the light source 110 and the chromatic aberration lens 200 can be appropriately arranged using the color separating mirror 300, Can be further reduced in size and weight.

Various kinds of optical errors such as spherical aberration can be generated in the process of lens processing of the chromatic aberration lens 200. Since such an optical error is an element that interferes with accurate scanning of the object 1, it is very important to scan the object 1 in consideration of such optical errors.

Therefore, the three-dimensional scanner using the chromatic aberration according to an embodiment of the present invention may further include an error correction light source 140 and an error correction unit 600 for optical error correction.

The error correcting light source 140 is a light source 110 that emits light having a single wavelength, for example, the error correcting light source 140 may be a laser.

In order for the error corrector 600 to perform optical error correction, a target object 1 that has already acquired accurate dimensional data is needed. That is to say, the error correcting light source 140 is irradiated to the object 1 which has already acquired accurate dimensional data, and the electrical image signal data scanned is compared with the accurate dimensional data, and the spherical aberration and / or distortion of the chromatic aberration lens 200 It is possible to correct the optical error including the element.

A three-dimensional scanner using a chromatic aberration according to an embodiment of the present invention includes a driving unit for adjusting the distance between the light source 110 and the chromatic aberration lens 200 or adjusting the distance between the light source 110 and the object 1 Time). The driving unit can scan the object 1 while moving the object 1 to the left or right or moving it in the direction of the three-dimensional scanner using the chromatic aberration according to an embodiment of the present invention or in the opposite direction.

The three-dimensional scanner using a chromatic aberration according to an embodiment of the present invention may further include a micro lens array (MLA) 700 in which microscopic lenses 710 are arranged in a lattice form.

The microlens array 700 (MLA) is a technique mainly used for photographing, in which a single image (image) is formed on a micro-sized lens 710 arranged in a lattice form, Is an optical technique that can obtain a clear picture of the entire object by selecting only the most clear portions (pixels) of the objects at various distances within the image of the image.

FIG. 10 is a view schematically showing a three-dimensional scanner using a chromatic aberration according to an embodiment of the present invention including a microlens array (MLA) 700. FIG.

10, the microlens array 700 is positioned between the color discriminating mirror 300 and the chromatic aberration lens 200 (FIG. 10 (a)) or between the color discriminating mirror 300 and the image sensor 400 (Fig. 10 (b)).

10 (c), an image formed by each microscale lens 710 is converted into image signal data by the image sensor 400, and is proportional to the number of lenses 710 of each microscale size The focal length difference can be used for more precise depth measurement.

In this case, the arithmetic processing unit 500 can determine the depth of the object 1 based on the focal lengths of the plurality of unit grid image signal data generated through the microlens array 700.

The three-dimensional scanner using a chromatic aberration according to an embodiment of the present invention may further include a polarization unit for removing noise or diffraction elements of light irradiated to the object or light reflected from the object. In one example, the polarizing portion may be a polarizing plate.

11 is a view schematically showing a three-dimensional scanner using a chromatic aberration according to an embodiment of the present invention including a polarization unit 900. FIG.

11, the position and the number of the polarizer 900 may vary depending on the specific embodiment and the necessity of removing the diffractive element 900. In the embodiment shown in FIG. 11, the polarizer 900 is shown as being positioned between the color separating mirror 300 and the chromatic aberration lens 200, Can be changed.

12 is a view schematically showing a process of generating a cloud at a point 5 by acquiring image signal data after irradiating patterned light onto a target object 1 with a three-dimensional scanner using a chromatic aberration according to an embodiment of the present invention to be.

Referring to FIG. 12, when patterned light is irradiated on the object 1, the patterned light is reflected as shown in FIG. 12 (a), and the image sensor 400 acquires image signal data. The arithmetic processing unit 500 performs color processing on the boundary surface in such a manner that only the hue having the greatest change rate of intensity for each color in the image signal data is subjected to hue processing so that the focal distance corresponding to the depth of the object 1 Only the color of the wavelength having the sharpest color remains. If the depth of the bright portion is measured for each pattern pattern based on the focal distance data for each color (wavelength), a point cloud for each bright surface can be obtained as shown in Fig. 12 (c). As shown in Fig. 12 (d), when each point 5 is connected by mesh processing, three-dimensional three-dimensional shape data in which the depth of each point 1 (by point) is data can be acquired.

13 is a view schematically showing a three-dimensional scanning method using a chromatic aberration according to an embodiment of the present invention.

Referring to FIG. 13, a three-dimensional scanning method using a chromatic aberration according to an embodiment of the present invention includes: a step in which a light source of a light irradiation unit emits light; Generating a chromatic aberration by a chromatic aberration lens in accordance with a refractive index for each wavelength of light emitted from the light irradiating unit; Sensing the light reflected from the object through the chromatic aberration lens to obtain electrical image signal data; And an arithmetic processing unit compares the sharpness of each of the light signals with the wavelength of the light of the image signal data to determine the depth of the object based on the wavelength with the highest sharpness and the focal length of the light, Step < / RTI >

When a light source is selected by the light irradiation unit and light is emitted (S100), the light passes through the spatial light modulator and is irradiated to the object in a predetermined pattern (S200). The image sensor senses the light reflected from the object and obtains the image signal data in step S300. The operation processor divides the bright area 2 from the image signal data in step S400. (By color) the sharpness change rate can be measured (S500). A depth value corresponding to the focal length of the wavelength (color) can be calculated by finding a wavelength (color) having the greatest change rate of sharpness (S600). After generating point clouds for each area (S700), connecting the points to each other by mesh processing can acquire three-dimensional solid shape data obtained by digitizing the depth of each object (by point).

The method (2000) for three-dimensional scanning using chromatic aberration according to an embodiment of the present invention further includes a step of reflecting a light reflected from a target object through a chromatic aberration lens to a image sensor by a dichroic mirror , The image sensor can acquire video signal data when the object is irradiated with the video signal data when the first pattern is irradiated onto the object before the pattern is changed and the second pattern after the pattern is changed.

The spatial light modulator 120 may be one of a pattern mask film, a digital micromirror device (DMD), a liquid crystal display (LCD), or a liquid crystal on silicon (LCOS) Or more.

In the step of determining the depth of the object and generating the three-dimensional shape data, the calculation processing unit 500 calculates the sharpness of each pattern area of the video signal data reflected from the object corresponding to the pattern, The depth of the corresponding object can be determined.

The light source may further include two or more individual light sources that emit light having wavelengths different from each other, and the reflector of the light irradiating unit may irradiate the object with the light having the at least two different wavelengths in an overlapping or adjacent optical path have.

The three-dimensional scanning method using a chromatic aberration according to an embodiment of the present invention may further include a step in which the error correcting light source of the light irradiating unit emits light having a single wavelength, And correcting an optical error including the spherical aberration and / or distortion element of the chromatic aberration lens by comparing the scanned electrical image signal data with the accurate dimensional data by irradiating the object with the error correcting light source.

The image signal data includes a plurality of unit unit grid image signal data generated by passing the light through a micro lens array (MLA) having micro-sized lenses arranged in a lattice form, And generating the three-dimensional shape data may determine the depth of the object based on the focal length of the unit-grid image signal data that has passed through the microlens array.

The step of determining the depth of the object to be processed and generating the stereoscopic shape data may determine the depth of the object using a focal length function having a wavelength value of light corresponding to the video signal data as a variable.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken as limitations. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

1: object
2: Bright area
3: Shaded area
4: Boundary by bright area
5: Point
10: Light irradiated to the object
20: light reflected from the object
30: Reference surface specimen
40:
50: Stand
100:
110: Light source
111: Individual light source
120: spatial light modulator (SLM)
121: Digital micro-mirror device (DMD)
122: Silicon liquid crystal display (LCOS)
130: reflector
140: error correction light source
150: Illuminated color wheel
160: Light source driving motor
200: chromatic aberration lens
300: Color selection mirror
400: Image sensor
410: Color image sensor
420: Monochromatic image sensor
430: Color wheel for sensing
440: Driving motor for sensing
500:
600: error correction unit
700: microlens array (MLA)
710: Micro-sized lens
800: convex lens
900: Polarizing unit
1000: 3D scanner using chromatic aberration
2000: 3D scanning method using chromatic aberration

Claims (19)

A light irradiation part (100) including a light source (110) that emits light of at least one wavelength per pattern area;
A chromatic aberration lens 200 for generating chromatic aberration according to the refractive index of each light emitted from the light irradiating unit 100;
An image sensor 400 that senses light 20 of at least one wavelength reflected from a target object through the chromatic aberration lens 200 and acquires image signal data for each wavelength; And
The sharpness of each of the pattern areas of the image signal data of each wavelength is calculated and the sharpness of each of the image signal data is compared according to the wavelength of the light, , And an arithmetic processing unit (500) for determining the depth of the object (1) corresponding to the area and generating stereoscopic shape data.
3D scanner using chromatic aberration.
The method according to claim 1,
Further comprising a dichroic mirror (300) for reflecting the light (20) reflected from the object through the chromatic aberration lens (200) to the image sensor (400)
3D scanner using chromatic aberration.
The method according to claim 1,
The light irradiating unit (100)
Further comprising a spatial light modulator (SLM) 120 for allowing the light to change a pattern irradiated on the object 1,
The image sensor 400,
The image signal data when the object 1 is irradiated with the first pattern before the pattern is changed and the second pattern after the pattern is changed are acquired As a result,
3D scanner using chromatic aberration.
The method of claim 3,
The spatial light modulator (120)
A pattern mask film, a digital micromirror device (DMD), a liquid crystal display (LCD), or a liquid crystal on silicon (LCOS)
3D scanner using chromatic aberration.
The method of claim 3,
The arithmetic processing unit (500)
And the depth of the object (1) corresponding to the pattern area is determined by calculating the sharpness of each pattern area of the video signal data reflected from the object (1) corresponding to the pattern.
3D scanner using chromatic aberration.
The method according to claim 1,
The light source 110,
And two or more individual light sources 111 for emitting light having wavelengths different from each other,
The light irradiating unit (100)
Characterized by further comprising a reflector (130) for irradiating the object (1) with the light having the different wavelengths in an overlapping or adjacent optical path,
3D scanner using chromatic aberration.
The method according to claim 1,
The light irradiating unit (100)
Further comprising an error correcting light source (140) for emitting light having a single wavelength,
The correcting dimensional light source 140 is irradiated on the object 1 having already obtained the accurate dimensional data and the electrical image signal data scanned is compared with the correct dimensional data to obtain the spherical aberration and / And an error correction unit (600) for correcting an optical error,
3D scanner using chromatic aberration.
The method according to claim 1,
Further comprising a driving unit for adjusting a distance between the light source 110 and the chromatic aberration lens 200 or adjusting a distance between the light source 110 and the object 1,
3D scanner using chromatic aberration.
3. The method of claim 2,
A microlens array 710 is disposed between the color separating mirror 300 and the chromatic aberration lens 200 or between the color separating mirror 300 and the image sensor 400 and the microscopic lenses 710 are arranged in a lattice form. (Micro Lens Array (MLA)) 700,
The arithmetic processing unit (500)
Wherein the depth of the object (1) is determined based on a focal length of a plurality of unit grid image signal data generated through the microlens array (700)
3D scanner using chromatic aberration.
The method according to claim 6,
The arithmetic processing unit (500)
Wherein the depth of the object (1) is determined by using a focal length function having a wavelength value of light corresponding to the video signal data as a variable.
3D scanner using chromatic aberration.
The light source of the light irradiating portion emits light of one or more wavelengths per pattern region;
Generating a chromatic aberration by a chromatic aberration lens in accordance with a refractive index for each wavelength of light emitted from the light irradiating unit;
Sensing an image of at least one wavelength reflected from a target object through the chromatic aberration lens to obtain electrical image signal data for each wavelength; And
The arithmetic processing unit calculates the sharpness of each of the pattern areas of the video signal data per wavelength and compares the sharpness of each of the video signal data with respect to the wavelength of the light to determine the sharpness of the light based on the wavelength with the highest sharpness, Determining the depth of the object corresponding to the pattern area, and obtaining the three-dimensional shape data.
3D scanning method using chromatic aberration.
12. The method of claim 11,
Further comprising the step of allowing the dichroic mirror (300) to pass through the chromatic aberration lens and reflect the light reflected from the object to the image sensor.
3D scanning method using chromatic aberration.
12. The method of claim 11,
The light-
Further comprising a spatial light modulator (SLM) that allows the light to change a pattern irradiated on the object,
In the image sensor,
Acquires the video signal data when the object is irradiated with the video signal data when the object is irradiated with the first pattern before the pattern is changed and the second pattern after the pattern is changed.
3D scanning method using chromatic aberration.
14. The method of claim 13,
The spatial light modulator includes:
A pattern mask film, a digital micromirror device (DMD), a liquid crystal display (LCD), or a liquid crystal on silicon (LCOS)
3D scanning method using chromatic aberration.
14. The method of claim 13,
The step of determining the depth of the object to be processed by the arithmetic processing unit and generating the three-
Calculating a sharpness of each of the pattern areas of the video signal data reflected from the target object in correspondence with the pattern, and determining a depth of the target object corresponding to each of the pattern areas;
3D scanning method using chromatic aberration.
12. The method of claim 11,
The light source,
An optical device comprising two or more individual light sources for emitting light having wavelengths different from each other,
Characterized in that the reflector of the light irradiating unit further comprises a step of irradiating the object with the light having the at least two different wavelengths in the overlapping or adjacent optical path,
3D scanning method using chromatic aberration.
12. The method of claim 11,
Further comprising the step of causing the error correcting light source of the light irradiating unit to emit light having a single wavelength,
The error correcting unit irradiates the object with the correct dimensional data to the error correcting light source 140 and compares the scanned electrical image signal data with the accurate dimensional data to calculate the spherical aberration and / Further comprising the step of correcting the optical error.
3D scanning method using chromatic aberration.
12. The method of claim 11,
Wherein the video signal data includes:
Wherein the light includes a plurality of unit unit grid image signal data generated by passing microscopic lenses through a micro lens array (MLA) arranged in a lattice form,
The step of determining the depth of the object to be processed by the arithmetic processing unit and generating the three-
And a depth of the object is determined based on a focal distance of the unit-grid image signal data that has passed through the microlens array.
3D scanning method using chromatic aberration.
17. The method of claim 16,
The step of determining the depth of the object to be processed by the arithmetic processing unit and generating the three-
Wherein a depth of a target object is determined using a focal length function having a wavelength value of light corresponding to the video signal data as a variable.
3D scanning method using chromatic aberration.

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