KR102082703B1 - Apparatus and method for obtaining depth image - Google Patents

Abstract

A depth image acquisition device and method for acquiring a depth image of a subject located at a far distance, wherein the predetermined light includes a first light having a first diffusion angle and a second diffusion angle different from the first diffusion angle. A light irradiation unit for irradiating a second light to have, a light receiving unit for receiving the first and second light reflected from a subject, a depth image processing unit for extracting depth image information from light received at the light receiving unit, a light irradiation unit and a light receiving unit It may include a control unit for controlling. Here, the light irradiation unit includes a light source unit for emitting light, a first diffusion unit for diffusing light emitted from the light source unit at a first diffusion angle for a first time, and light emitted from the light source unit for a second time period, It may include a second diffusion to diffuse at a second diffusion angle different from the first diffusion angle.

Description

Depth Image Acquisition Apparatus and Method {APPARATUS AND METHOD FOR OBTAINING DEPTH IMAGE}

The present invention relates to an apparatus for acquiring a depth image, and more particularly, to an apparatus and method for obtaining a depth image capable of acquiring a depth image of a subject located at a far distance.

In general, the 3D image information includes geometry and color information, which may be obtained using a depth image.

Such depth images can be obtained directly through hardware equipment such as a depth camera, and indirectly through software image processing called computer vision technology.

On the other hand, the depth camera is a method of acquiring a depth image using a time of flight (ToF).

Here, the method of using the time of flight (ToF) is a method of measuring the time when the light irradiated to the subject is reflected from the subject to return, and detects the moment when the reflected light returns to the light receiver by using a special sensor sensitive to the light. There is a direct method of detecting ToF and an indirect method of detecting and calculating their phase difference as the amount of charge when the pulsed light modulated using the photodiode is reflected.

However, in a depth camera using this method, when the subject is located at a long distance, it is difficult to receive light reflected back from the subject accurately and accurately, and thus the precision of the depth image may be degraded.

In addition, in order to receive light accurately and precisely, an expensive sensor must be used, which increases the price of the depth camera.

Therefore, in the future, it is necessary to develop a depth image obtaining apparatus capable of precisely obtaining a depth image of a subject located at a far distance without using an expensive sensor.

An object of the present invention is to provide a depth image obtaining apparatus and method capable of accurately and accurately obtaining a depth image of a subject located at a far distance.

Another object of the present invention is to provide a depth image obtaining apparatus and method capable of acquiring a depth image of a subject located at a far distance without using an expensive light receiving sensor.

An apparatus for obtaining depth images according to an embodiment of the present invention includes a light irradiation unit configured to irradiate a predetermined subject with a first light having a first diffusion angle and a second light having a second diffusion angle different from the first diffusion angle. And a light receiving unit receiving the first and second light reflected from the subject, a depth image processing unit extracting depth image information from the light received by the light receiving unit, and a control unit controlling the light irradiation unit and the light receiving unit.

Here, the light irradiation unit includes a light source unit for emitting light, a first diffusion unit for diffusing light emitted from the light source unit at a first diffusion angle for a first time, and light emitted from the light source unit for a second time period, It may include a second diffusion to diffuse at a second diffusion angle different from the first diffusion angle.

In this case, the first diffusion part and the second diffusion part may be disposed on the same moving plate, and the moving plate may rotate or may reciprocate linearly in the vertical direction or the horizontal direction.

Further, the light source portion and the first diffuser are disposed on the same line as each other, the light source portion and the second diffuser are disposed on different lines, and are disposed between the light source portion and the first diffuser for a second time period, from the light source portion to the first diffuser portion. The apparatus may further include a reflector configured to reflect the emitted light to the second diffuser.

The light irradiation unit includes a first light source unit that emits first light for a first time, a second light source unit that emits second light for a second time, and a first light emitted from the first light source unit; A first diffusion part for diffusing at a first diffusion angle and a second diffusion part for diffusing the second light emitted from the second light source part at a second diffusion angle different from the first diffusion angle may be included.

Subsequently, the light irradiation unit includes a first light source unit that emits first light having a first wavelength, a second light source unit that emits second light having a second wavelength different from the first wavelength, and a first light source that emits light from the first light source unit. A first diffusion part for diffusing the first light at the first diffusion angle and a second diffusion part for diffusing the second light emitted from the second light source part at a second diffusion angle different from the first diffusion angle may be included.

Next, the light irradiation unit includes a first light source unit that emits first light having a first wavelength, a second light source unit that emits second light having a second wavelength different from the first wavelength, and a first light source that emits light from the first light source unit. It may include a diffusion unit for diffusing one light at a first diffusion angle and diffusing the second light emitted from the second light source unit at a second diffusion angle different from the first diffusion angle.

Here, the first light source and the diffuser may have a first distance, the second light source and the diffuser may have a second distance, and the first distance may be longer than the second distance.

Further, the wavelength of the first light may be longer than the wavelength of the second light, and the first diffusion angle of the first light may be larger than the second diffusion angle of the second light.

A mirror for reflecting the first light source may be disposed between the first light source and the diffuser, and a filter may be disposed between the second light source and the diffuser to transmit the first light source and reflect the second light source. .

The apparatus may further include a scanning mirror that scans the first and second lights diffused from the diffuser into the subject.

Next, the light receiving unit may receive the first light reflected from the subject during the first time, and receive the second light reflected from the subject during the second time.

The light receiving unit includes a first light receiving unit for receiving the first light reflected from the subject, and a second light receiving unit for receiving the second light reflected from the subject, and receives the time and the second light for receiving the first light. The time to do may be the same.

Here, the first light receiving part includes a first filter that transmits the first light and reflects the second light, and the second light receiving part includes a second filter that transmits the second light and reflects the first light. can do.

On the other hand, the depth image acquisition method according to an embodiment of the present invention, the step of irradiating a first object having a first diffusion angle and a second light having a second diffusion angle different from the first diffusion angle to a predetermined subject And receiving first and second light reflected from the subject, and extracting depth image information from the received light.

Here, the step of irradiating the first and second light may include: irradiating the first object having a first diffusion angle with the predetermined subject, blocking the irradiation of the second light for a first time, and irradiating the second light with the second object; During the period of time, blocking the irradiation of the first light and irradiating a second light having a second diffusion angle different from the first diffusion angle, wherein the first light and the second light may have the same wavelength.

The irradiating the first and second light may simultaneously irradiate a predetermined subject with the first light having the first diffusion angle and the second light having the second diffusion angle different from the first diffusion angle, The first light and the second light may have different wavelengths.

According to one embodiment of the present invention, by varying the diffusion angle for the irradiation light, it is possible to accurately and accurately obtain the depth image of the subject located at a far distance.

In addition, according to an embodiment of the present invention, a depth image of a subject located at a long distance can be obtained without using an expensive light receiving sensor, and thus a depth image obtaining apparatus having improved efficiency at a low cost can be implemented.

1 is a block diagram showing a depth image acquisition device according to the present invention
2 is a block diagram illustrating the relationship between the distance between the light irradiation unit and the subject and the light reflected from the subject;
3 is a graph for explaining the relationship between the distance between the light irradiation unit and the subject and the light reflected from the subject;
4A and 4B are graphs showing a change in light amount according to a light diffusion angle
FIG. 5 is a graph showing the relationship between the distance to the ratio of the first light amount and the second light amount according to FIGS. 4A and 4B;
6A and 6B illustrate a first embodiment showing the light irradiation part of FIG. 1.
7a and 7b show the movement of the first and second diffusions according to FIGS. 6a and 6b.
8A and 8B show a rotational movement of the first and second diffusion parts according to FIGS. 6A and 6B.
9A and 9B are views showing vertical movement of the first and second diffusion parts according to FIGS. 6A and 6B.
10A and 10B are diagrams illustrating linear left and right movements of the first and second diffusion parts according to FIGS. 6A and 6B.
11A to 11C show a first embodiment showing the individual linear movement of the first and second diffusions according to FIGS. 6A and 6B.
12a to 12c show a second embodiment showing the individual linear movement of the first and second diffusions according to FIGS. 6a and 6b.
13A and 13B illustrate a second embodiment showing the light irradiation part of FIG. 1.
14 is a third embodiment of the light irradiation part of FIG. 1;
15A and 15B illustrate a depth image obtaining apparatus including the light irradiation part of FIG. 14.
FIG. 16 is a second embodiment illustrating an apparatus for obtaining a depth image including the light emitter of FIG. 14.
17 is a fourth embodiment illustrating the light irradiation part of FIG. 1.
18 is a fifth embodiment showing the light irradiation part of FIG.
19 and 20 are flowcharts illustrating a depth image obtaining method according to the present invention.

Hereinafter, with reference to the drawings will be described the present invention in more detail.

The suffixes "module" and "unit" for components used in the following description are merely given in consideration of ease of preparation of the present specification, and the "module" and "unit" may be used interchangeably.

Furthermore, although an embodiment of the present invention will be described in detail with reference to the accompanying drawings and the contents described in the accompanying drawings, the present invention is not limited or restricted by the embodiments.

The terminology used herein is a general term, which is currently widely used as possible while considering functions in the present invention, but may vary according to the intention or custom of the person skilled in the art or the emergence of new technology. In addition, in certain cases, there is a term arbitrarily selected by the applicant, and in this case, the meaning will be described in the corresponding description of the invention. Therefore, it is to be understood that the terminology used herein is to be interpreted based on the actual meaning of the term and the contents throughout the specification, rather than simply on the name of the term.

1 is a block diagram showing a depth image acquisition device according to the present invention.

As shown in FIG. 1, the present invention may include a light irradiator 100, a light receiver 200, a depth image processor 300, and a controller 400.

Here, the light irradiator 100 may irradiate the predetermined object 500 with the first light having the first diffusion angle and the second light having the second diffusion angle different from the first diffusion angle.

In this case, the light irradiation unit 100 may include the light source unit 110 and the diffusion unit 120, which may be configured in various embodiments.

For example, the light irradiator 100 may include one light source 110 and a plurality of diffusers 120.

Here, the plurality of diffusion units 120 may move to the central axis of the light emitted from the light source unit 110 at different times.

In this case, the diffusion parts 120 may be rotated or may be moved in a reciprocating linear motion in the vertical direction or the left and right directions.

In some cases, the light irradiator 100 may include a plurality of light source units 110 and a plurality of diffuser units 120. The light source unit 110 and the diffuser unit 120 may correspond to each other one-to-one.

Here, the light source unit 110 and the diffuser 120 may be fixedly disposed to correspond to each other.

In this case, the plurality of light source units 110 may emit light having different wavelengths, and light having different wavelengths may be simultaneously emitted.

Alternatively, light of different wavelengths may be emitted at different time zones.

As another case, the light irradiator 100 may include a plurality of light sources 110 and one diffuser 120, and the plurality of light sources 110 may be spaced apart from the diffuser 120 by a different distance. Can be arranged.

In this case, the plurality of light sources 110 may emit light having the same wavelength or emit light having different wavelengths.

Here, lights of different wavelengths may be emitted at the same time, or may be emitted at different time zones.

For example, the light irradiation unit 100 may include a light source that emits infrared light corresponding to an infrared region of the light spectrum, and a lens that diffuses infrared light.

Here, the light source may be included in the light source unit 110 of the light irradiator 100, and the lens may be included in the diffuser 120 of the light irradiator 100.

In addition, the light source and the lens may be integrally attached, and in some cases, may be separately separated into a separate type.

As such, the light source 110 and the diffuser 120 may be integrally attached to each other, or may be separated from each other in a separate type.

When the light source unit 110 and the diffuser 120 are separated, at least one of them may be movable.

Next, the light receiving unit 200 may receive the first and second light reflected from the subject 500.

Here, the light receiving unit 200 may be composed of one or a plurality of.

For example, when there is only one light receiver 200, the light receiver 200 receives the first light reflected from the subject 500 during the first time and is reflected from the subject 500 during the second time. The second light can be received.

In addition, when there are a plurality of light receiving units 200, the light receiving unit 200 may include a first light receiving unit receiving the first light reflected from the subject 500 and a second light receiving unit receiving the second light reflected from the subject. It may also include.

Here, the time for receiving the first light and the time for receiving the second light may be the same or may be different from each other in some cases.

Next, the depth image processor 300 may extract depth image information from the light received by the light receiver 200.

Subsequently, the control unit 400 may control the light irradiation unit 100 and the light receiving unit 200, but the control unit 400 may simultaneously drive the light irradiation unit 100 and the light receiving unit 200. They can also be driven at different times.

As described above, according to the present invention, the light source unit 110 and the diffuser 120 are configured in various ways, and a plurality of light having different diffusion angles are irradiated to the predetermined subject 500, thereby subjecting the subject located at a far distance ( Depth image for 500 can be obtained accurately and accurately.

Here, the reason for irradiating the subject with a plurality of light having different diffusion angles is as follows.

FIG. 2 is a block diagram illustrating the relationship between the distance between the light irradiation unit and the subject and the light reflected from the subject, and FIG. 3 illustrates the relationship between the distance between the light irradiation unit and the subject and the light reflected from the subject. This is a graph.

As shown in FIGS. 2 and 3, the light irradiator 1 includes a light source unit 10 and a light receiver 20, and the light irradiator 1 may be disposed at a distance d from the subject 3. .

Then, the subject 3 has a predetermined reflectance p, and reflects the external noise light L _B by the illumination 5.

Subsequently, the light source 10 of the light irradiator 1 irradiates light onto the subject 3, and the amount of light irradiated onto the subject 3 may be L _P.

Next, the light receiving unit 20 of the light irradiator 1 receives the light reflected from the subject 3, and the amount of light received from the subject 3 may be L _R.

Here, the light amount L _R received by the light receiving unit 20 can be obtained as in Equation 1 below.

Equation 1

L _R = {(ρL _P ) / d ^a } + L _B

In this case, L _R is the amount of light reflected from the subject and received by the light-receiving portion of the light irradiation part, ρ is the reflectance of the object, L _P is the amount of light scanned on the subject at a distance d, and d is the distance between the subject and the light irradiation part. Distance, a is a general constant, and L _B may be external noise light.

Here, L _B can be removed with a special optical filter.

Therefore, as a final formula, L _R = (ρ · L _P ) / d ^a .

As described above, according to the above formula, as illustrated in FIG. 3, the light amount L _R received by the light receiving unit may be inversely proportional to the distance d.

That is, the closer the distance d between the light irradiation unit 1 and the subject 3 is, the larger the amount L _R of light received by the light receiving unit 20 is, but the farther d the distance between the light irradiation unit 1 and the subject 3 is. The light amount L _R received by the light receiving unit 20 may be small.

Therefore, when the subject 3 is located far from the light irradiator 1, since the amount of light received by the light receiver 20 is small, it may be difficult to obtain accurate depth image information.

4A and 4B are graphs showing a change in the amount of light according to the light diffusion angle. FIG. 4A is a case where the light diffusion angle is about 30 or more, and FIG. 4B may be a case where the light diffusion angle is about 30 degrees or less.

As shown in FIG. 4A, when the light irradiation unit enlarges the diffusion angle of the light and irradiates the light to the subject, the light irradiation unit may receive a large amount of the first light amount L _R 1 from the subject located at a close distance. It is not possible to receive the first light amount L _R 1 from a subject located at a far distance.

Therefore, when the light diffusion angle is large, it is difficult to obtain the amount of light received from a remote object, and thus it may be difficult to obtain depth image information of a remote object.

As shown in FIG. 4B, when the light irradiation unit reduces the diffusion angle of the light and irradiates the light to the subject, the light irradiation unit may receive the second light amount L _R 2 even at a small distance from the subject. However, even if the subject is located at a close distance, the second light amount L _R 2 can be received less.

Therefore, when the diffusion angle of the light is small, there is an advantage that the amount of light can be obtained even from a subject at a long distance, but since the amount of light obtained from a subject located at a short distance is small, the accuracy of the depth image information of the subject may be degraded.

As described above, it can be seen that when the light diffusion angle is reduced, the amount of light reflected from the subject located at a far distance can be received.

In addition, it can be seen that when the diffusion angle of light is varied, the amount of light reflected from the subject changes depending on the distance between the light irradiator and the subject.

Here, irrespective of the distance between the light irradiator and the subject, if the amount of light reflected from the subject is uniformly received by the light irradiator, the depth image information for the subject located at a distance as well as at a distance can be accurately and accurately obtained.

FIG. 5 is a graph showing the relationship between the distance to the ratio of the first light amount and the second light amount according to FIGS. 4A and 4B.

As shown in FIG. 5, in order to make a one-to-one correspondence relationship between the first light quantity L _R 1 of FIG. 4A and the second light quantity L _R 2 of FIG. 4B, the ratio of the first light quantity L _R 1 and the second light quantity L _R 2 is shown. When calculated, Equation 2 is obtained.

Equation 2

α·(L_P1/L_P2) _{L R 1 / L R 2 =} {(ρ 1 · L P 1) / d a} / {(ρ 2 · L P 2) / d a}

α (L _P 1 / L _P 2)

At this time, L _R 1 is reflected from the subject located at a short distance, the amount of light received by the light-receiving portion of the light irradiation unit, ρ ₁ is the reflectance of the subject located at a short distance, L _R 2 is reflected from a subject located at a long distance, The amount of light received by the light receiving portion of the light irradiation portion, ρ ₂ is the reflectance of the subject located at a long distance, d is the distance between the subject and the light irradiation portion, a is a general constant.

In this way, the ratio of the first light amount L _R 1 and the second light amount L _R 2 has a 1: 1 correspondence to the distance, and ρ ₁ and ρ ₂ can be eliminated, thereby minimizing the influence of the reflectance of the subject. It can be expressed as a function of lights having different diffusion angles.

Therefore, as shown in FIG. 5, the ratio of the first light amount and the second light amount can receive a sufficient light amount not only from a subject located at a short distance but also from a subject located at a long distance, so that the accuracy and accuracy of depth image information on the subject can be obtained. Can be improved.

Therefore, according to the present invention, the light source 110 and the diffuser 120 of FIG. 1 are configured in various ways, and a plurality of light having different diffusion angles are irradiated to a predetermined subject 500, thereby subjecting the subject to be remotely located. Depth images for 500 can be obtained accurately and accurately.

Hereinafter, various embodiments of the present invention will be described.

6A and 6B illustrate a first embodiment showing the light irradiation part of FIG. 1. FIG. 6A is a view showing a diffusion part that is moved and disposed during a first time, and FIG. 6B is a view showing a diffusion part that is moved and disposed during a second time. .

As illustrated in FIGS. 6A and 6B, the light irradiator may include one light source 110 and a plurality of diffusers.

Here, the diffusion part may include the first and second diffusion parts 122 and 124, which are separately movable.

At this time, the first diffusion unit 122 diffuses the light emitted from the light source unit 110 at the first diffusion angle θ1 for the first time T1, and the second diffusion unit 124 is separated from the light source unit 110. The emitted light can be diffused at a second diffusion angle θ2 different from the first diffusion angle θ1 during the second time T2.

In some cases, the first diffusion unit 122 and the second diffusion unit 124 may move to the central axis of the light emitted from the light source unit 110 at different times.

For example, as illustrated in FIG. 6A, the first diffuser 122 may move to the central axis of light during the first time T1, such that the first diffuser 122 and the light source 110 may be disposed on the same line. have.

As shown in FIG. 6B, the second diffuser 124 may move to the central axis of light for a second time T2, such that the second diffuser 124 and the light source 110 may be disposed on the same line.

Here, the first and second diffusion parts 122 and 124 may be disposed separately from the light source part 110.

For example, the first and second diffusers 122 and 124 may be diffusion lenses and diffusion floodlight plates capable of transmitting and diffusing light.

7A and 7B are views showing the movement of the first and second diffusers according to FIGS. 6A and 6B, and FIG. 7A is a view showing the first diffusers moving along the optical axis during a first time, and FIG. 7B is a second view. Figure 2 shows a second diffuser moving in the optical axis during time.

As shown in FIGS. 7A and 7B, the first diffuser 122 and the second diffuser 124 may move to different center axes of the light emitted from the light source 110 at different times.

Here, the first diffuser 122 may be a lens for diffusing the light emitted from the light source unit 110 at the first diffusion angle θ1, and the second diffuser 124 may emit light emitted from the light source unit 110. The lens may be configured to diffuse light at a second diffusion angle θ2 different from the first diffusion angle θ1.

For example, as illustrated in FIG. 7A, the first diffuser 122 may move to the central axis of light during the first time T1, such that the first diffuser 122 and the light source 110 may be disposed on the same line. have.

As shown in FIG. 7B, the second diffuser 124 may move to the central axis of light for a second time T2, such that the second diffuser 124 and the light source 110 may be disposed on the same line.

8A and 8B illustrate a rotational movement of the first and second diffusions according to FIGS. 6A and 6B. FIG. 8A is a view illustrating a first diffusion portion that is rotated and moved about an optical axis during a first time. FIG. 2 is a view showing a second diffusion that rotates in an optical axis during a second time. FIG.

As shown in FIGS. 8A and 8B, the first diffusion part 122 and the second diffusion part 124 are disposed on the same moving plate 126, and the moving plate 126 is centered on the rotating shaft 128. Can rotate.

Therefore, the first diffuser 122 and the second diffuser 124 may rotate to move to the central axis of the light emitted from the light source 110 at different times.

For example, as shown in FIG. 8A, the first diffuser 122 rotates about the central axis of light during the first time T1, such that the first diffuser 122 and the light source 110 are arranged on the same line. Can be.

In addition, as shown in FIG. 8B, the second diffuser 124 may rotate in the central axis of light during the second time T2, such that the second diffuser 124 and the light source 110 may be disposed on the same line. .

9A and 9B are views showing vertical movements of the first and second diffusion parts according to FIGS. 6A and 6B. FIG. 9A is a view illustrating the first diffusion parts moving up and down linearly on an optical axis during a first time. FIG. 9B is a view showing a second diffuser that moves up and down linearly on the optical axis during the second time.

9A and 9B, the first diffusion part 122 and the second diffusion part 124 are disposed on the same moving plate 126, and the moving plate 126 reciprocates linearly in the vertical direction. can do.

Therefore, the first diffuser 122 and the second diffuser 124 may linearly move up and down on the central axis of the light emitted from the light source 110 at different times.

For example, as shown in FIG. 9A, the first diffuser 122 moves up and down linearly with respect to the central axis of light during the first time T1, so that the first diffuser 122 and the light source 110 are arranged on the same line. Can be.

And, as shown in FIG. 9B, the second diffuser 124 moves up and down linearly with respect to the central axis of light during the second time T2, such that the second diffuser 124 and the light source 110 may be disposed on the same line. have.

10A and 10B are views showing left and right linear movements of the first and second diffusers according to FIGS. 6A and 6B, and FIG. 10A is a view illustrating first diffusers moving left and right linearly to an optical axis during a first time period. 10b is a view showing a second diffuser that moves linearly and horizontally to the optical axis during the second time.

As shown in FIGS. 10A and 10B, the first diffusion part 122 and the second diffusion part 124 are disposed on the same moving plate 126, and the moving plate 126 reciprocates linearly in left and right directions. can do.

Therefore, the first diffusion part 122 and the second diffusion part 124 may move reciprocally linearly to the left and right directions on the central axis of the light emitted from the light source part 110 at different times.

For example, as shown in FIG. 10A, the first diffuser 122 moves left and right linearly to the central axis of light during the first time T1, so that the first diffuser 122 and the light source 110 are arranged on the same line. Can be.

As shown in FIG. 10B, the second diffuser 124 is linearly moved left and right along the central axis of the light during the second time T2, such that the second diffuser 124 and the light source 110 may be disposed on the same line. have.

11A to 11C are first embodiments showing individual linear movements of the first and second diffusion parts according to FIGS. 6A and 6B.

As shown in FIGS. 11A to 11C, the first diffusion part 122 may be disposed on the first moving plate 126a and the second diffusion part 124 may be disposed on the second moving plate 126b. .

Here, the first moving plate 126a and the second moving plate 126b can reciprocate linearly in the same direction at different times.

That is, the first moving plate 126a and the second moving plate 126b are arranged side by side on the optical axis, and can be linearly moved in the same direction at different times.

For example, as shown in FIG. 11A, the first and second diffusion parts 122 and 124 may be arranged side by side on the optical axis.

And, as shown in Fig. 11B, during the first time T1, the second diffuser 124 is fixed in place without movement, and only the first diffuser 122 moves linearly to the central axis of the light, whereby the first diffuser The 122 and the light source unit 110 may be arranged on the same line.

Subsequently, as shown in FIG. 11C, during the second time T2, the first diffuser 122 moves back into place, while the second diffuser 124 linearly moves to the central axis of light, thereby providing the second diffuser. The 124 and the light source unit 110 may be arranged on the same line.

Here, the moving direction of the first diffusion part 122 moving during the first time T1 and the moving direction of the second diffusion part 124 moving during the second time T2 may be the same direction.

12A to 12C are second embodiments showing individual linear movements of the first and second diffusion parts according to FIGS. 6A and 6B.

12A to 12C, the first diffusion part 122 may be disposed on the first moving plate 126a, and the second diffusion part 124 may be disposed on the second moving plate 126b. .

Here, the first moving plate 126a and the second moving plate 126b can reciprocate linearly in different directions at different times.

That is, the first moving plate 126a may be disposed on one side from the optical axis, and the second moving plate 126b may be disposed on the other side from the optical axis.

For example, as shown in FIG. 12A, the first and second diffusion parts 122 and 124 may be disposed at both sides around the optical axis.

12B, during the first time T1, the second diffuser 124 is fixed in place without movement, and only the first diffuser 122 linearly moves to the central axis of light, thereby providing the first diffuser. The 122 and the light source unit 110 may be arranged on the same line.

Subsequently, as shown in FIG. 12C, during the second time T2, the first diffuser 122 moves back into place, while the second diffuser 124 linearly moves to the central axis of the light, thereby providing the second diffuser. The 124 and the light source unit 110 may be arranged on the same line.

Here, the moving direction of the first diffusion part 122 moving during the first time T1 and the moving direction of the second diffusion part 124 moving during the second time T2 may be opposite directions.

13A and 13B are second embodiments showing the light irradiation part of FIG. 1, FIG. 13A is a view showing a diffusion part that is moved and disposed during a first time, and FIG. 13B is a view showing a diffusion part that is moved and disposed during a second time. .

As shown in FIGS. 13A and 13B, the light irradiator may include one light source 110 and a plurality of diffusers.

The mirror unit 130 may be disposed between the light source unit 110 and the diffusion unit.

Here, the diffusion part may include the first and second diffusion parts 122 and 124, which may be fixed without movement, and the mirror part 130 may be moved.

Subsequently, the light source unit 110 and the first diffuser 122 may be disposed on the same line as each other, and the light source unit 110 and the second diffuser 124 may be disposed on different lines.

The reflector 130 is moved between the light source 110 and the first diffuser 122 during the second time T2 to emit light emitted from the light source 110 to the first diffuser 122. The second diffuser 124 may reflect the light.

Here, the reflector 130 includes a first mirror 132 and a second mirror 134, the first mirror 132 is disposed between the light source unit 110 and the first diffuser 122. The light emitted from the light source unit 110 may be reflected to the second mirror 134, and the second mirror 134 may reflect the light reflected from the first mirror 132 to the second diffuser 124. have.

For example, as shown in FIG. 13A, the first diffusion part 122 and the light source part 110 are arranged on the same line, so that the light emitted from the light source part 110 is transmitted to the first diffusion part 122 during the first time T1. As a result, the light may be diffused to the first diffusion angle and scanned to the subject 500.

And, as shown in FIG. 13B, the reflecting unit 130 is moved between the first diffusion unit 122 and the light source unit 110, so that the light emitted from the light source unit 110 is reflected during the second time T2. The light is reflected by the second diffuser 124, and the light may be diffused by the second diffuser 124 at a second diffusion angle and scanned by the subject 500.

That is, the first mirror 132 of the reflector 130 is disposed between the light source 110 and the first diffuser 122, and reflects the light emitted from the light source 110 to the second mirror 134. The second mirror 134 of the reflector 130 may reflect the light reflected from the first mirror 132 to the second diffuser 124.

14 is a third embodiment illustrating the light irradiation part of FIG. 1.

As shown in FIG. 14, the light irradiating unit may include a plurality of light source units and a plurality of diffusion units.

Here, the light source unit may include the first and second light source units 112 and 114, and the diffusion unit may include the first and second diffusion units 122 and 124. The light source unit and the diffusion unit may be fixed without moving.

In this case, the first light source 112 and the first diffuser 122 may be disposed on the same line, and the second light source 114 and the second diffuser 124 may be disposed on the same line.

The first light source 112 and the second light source 114 may be disposed on different lines, and the first diffuser 122 and the second diffuser 124 may be disposed on different lines.

For example, the first light source unit 112 emits the first light 112a during the first time, and the second light source unit 114 may emit the second light 114a during the second time. have.

The first diffusion part 122 diffuses the first light 112a emitted from the first light source part 112 at the first diffusion angle θ1, and the second diffusion part 124 uses the second light source part ( The second light 114a emitted from 114 can be diffused at a second diffusion angle θ2 different from the first diffusion angle θ1.

In some cases, the first light source unit 112 may emit the first light having the first wavelength, and the second light source unit 114 may emit the second light having the second wavelength different from the first wavelength. It may be.

Here, the first light and the second light may be emitted simultaneously.

And, the wavelength of the first light may be shorter than the wavelength of the second light, and the first diffusion angle of the first light may be smaller than the second diffusion angle of the second light.

As another case, the light source portion and the diffusion portion may be integrally attached to each other, or may be separated from each other in a separate type.

15A and 15B illustrate a depth image obtaining apparatus including the light irradiator of FIG. 14. FIG. 15A is a view in which one light receiver is disposed, and FIG. 15B is a view in which a plurality of light receivers are disposed.

As shown in FIGS. 15A and 15B, the first light source 112 and the first diffuser 122 may be disposed on the same line, and the second light source 114 and the second diffuser 124 may be disposed on the same line. It may be arranged on the same line with each other.

Then, the first light source unit 112 emits the first light 112a during the first time according to the control signal of the control unit 400, and the second light source unit 114 controls the control signal of the control unit 400. As a result, during the second time, the second light 114a may be emitted.

That is, the first light 112a and the second light 114a may be emitted at different times.

In addition, the first light 112a and the second light 114a may be light having the same wavelength as each other.

Subsequently, as illustrated in FIG. 15A, one light receiving unit 200 may be disposed. The light receiving unit 200 may be configured to adjust the amount of light of the first light 112a reflected from the subject 500 during a first time period according to a control signal of the controller 400. In response to a control signal from the controller 400, the light amount of the second light 114a reflected from the subject 500 may be received for a second time.

In addition, as illustrated in FIG. 15B, a plurality of light receiving units 200 may be disposed. The first light receiving unit 220 may be a second light reflecting from the subject 500 during a first time according to a control signal of the controller 400. The light amount of the first light 112a is received, and the second light receiving unit 240 receives the light amount of the second light 114a reflected from the subject 500 during the second time, according to the control signal of the controller 400. I can receive it.

FIG. 16 is a second embodiment illustrating a depth image obtaining apparatus including the light irradiator of FIG. 14. FIG. 16 is a view illustrating a plurality of light receiving units and filters.

As shown in FIG. 16, the first light source 112 and the first diffuser 122 may be arranged on the same line, and the second light source 114 and the second diffuser 124 may be colinear with each other. Can be placed in.

Here, the 1st light source part 112 emits the 1st light 112a which has a 1st wavelength, and the 2nd light source part 114 receives the 2nd light 114a which has a 2nd wavelength different from a 1st wavelength. You can exit.

And the 1st, 2nd light source parts 112 and 114 can output the 1st light 112a and the 2nd light 114a simultaneously.

In this case, the wavelength of the first light 112a is shorter than the wavelength of the second light 114a, and the first diffusion angle of the first light 112a is smaller than the second diffusion angle of the second light 114a. Can be.

In some cases, the first light source unit 112 emits the first light 112a during the first time according to the control signal of the control unit 400, and the second light source unit 114 controls the control unit 400. According to the control signal, the second light 114a may be emitted for the second time.

That is, the first light 112a and the second light 114a may be emitted at different times.

In addition, the light receiving unit 200 may include first and second light receiving units 220 and 240, and the first light receiving unit 220 may include the subject 500 for a first time according to a control signal of the controller 400. ), The second light receiving unit 240 receives the amount of light reflected from the first light 112a, and the second light receiving unit 240 reflects the second light (reflected from the subject 500 during the second time period according to the control signal of the controller 400). The light quantity of 114a) can be received.

Here, the light receiving unit 200 may have the same time for receiving the first light 112a and the time for receiving the second light 114a.

The first light receiving unit 220 includes a first filter 510 that transmits the first light 112a and reflects the second light 114a, and the second light receiving unit 240 includes the second light. A second filter 520 that transmits 114a and reflects the first light 112a may be included.

17 is a fourth embodiment illustrating the light irradiation part of FIG. 1.

As shown in FIG. 17, the light irradiator may include a plurality of light sources and a diffuser 120.

Here, the light source unit may include the first and second light source units 112 and 114, and the diffusion unit 120 may be one, but the first and second light source units 112 and 114 and the diffusion unit 120 may move without moving. Can be fixed.

In this case, the diffusion unit 120 may be a diffusion lens or a DOE (Diffraction Optical Element) lens.

In addition, the first light source 112 and the diffuser 120 may have a first distance d12, and the second light source 114 and the diffuser 120 may have a second distance d11. 2 may be longer than d11.

Subsequently, the first light source unit 112 can emit the first light 112a having the first wavelength, and the second light source unit 114 has the second light 114a having a second wavelength different from the first wavelength. ) Can exit.

Here, the wavelength of the first light 112a is longer than the wavelength of the second light 114a and the first diffusion angle of the first light 112a is larger than the second diffusion angle of the second light 114a. Can be.

As such, the first diffusion angle of the first light 112a is larger than the second diffusion angle of the second light 114a because the first distance d12 between the first light source 112 and the diffusion 120 is This is because it is longer than the second distance d11 between the second light source 114 and the diffuser 120.

In addition, a mirror 600 for reflecting the first light source 112a is disposed between the first light source 112 and the diffuser 120, and between the second light source 114 and the diffuser 120, A filter 650 that transmits the first light source 112a and reflects the second light source 114a may be disposed.

The mirror 600, the filter 650, and the diffuser 120 may be disposed on the same line.

In some cases, the first light source unit 112 emits the first light 112a for the first time, and the second light source unit 114 may emit the second light 114a for the second time. have.

That is, the first light 112a and the second light 114a may be emitted at different time zones.

18 is a fifth embodiment illustrating the light irradiation part of FIG. 1.

As shown in FIG. 18, the fifth embodiment of the present invention has the same configuration as that of the fourth embodiment of the present invention, and may further include a scanning mirror 800.

Here, the scanning mirror 800 may scan the first and second lights 112a and 114a diffused from the diffuser 120 into the subject 500.

In addition, the scanning mirror 800 may be controlled by the mirror controller 700.

Subsequently, the rest of the configuration is the same as that of the fourth embodiment of the present invention of FIG.

As described above, the apparatus for acquiring a depth image of the present invention may be configured in various embodiments.

19 and 20 are flowcharts illustrating a depth image obtaining method according to the present invention, and FIG. 19 is a method of obtaining a depth image when irradiating first and second lights having different diffusion angles at different times. 20 is a method of acquiring a depth image when irradiating first and second lights having different diffusion angles at the same time.

When irradiating the first light and the second light having different diffusion angles at different times, a method of acquiring a depth image is illustrated in FIG. 19. According to the control signal, during the first time, the second light having the second diffusion angle is blocked, and the first light having the first diffusion angle is irradiated onto the subject 500 (S10).

Subsequently, the light receiving unit 200 may receive the first light having the first diffusion angle from the subject 500 during the first time according to the control signal of the controller 400.

Next, the light irradiation unit 100 cuts off the first light having the first diffusion angle for the second time and transmits the second light having the second diffusion angle to the subject 500 according to the control signal of the controller 400. (S14)

Here, the first light and the second light may have the same wavelength.

Subsequently, the light receiving unit 200 may receive the second light having the second diffusion angle from the subject 500 during the second time period according to the control signal of the controller 400.

The depth image processor 300 may extract depth image information from the received first and second lights (S18).

Next, the controller 400 determines whether all the depth image information of the subject 500 has been extracted (S20).

If the extraction of the depth image information on the subject 500 is all completed, the process ends. When the extraction of the depth image information on the subject 500 is not completed, steps S10 to S18 may be repeatedly performed.

On the other hand, when irradiating the first light and the second light having different diffusion angles at the same time, as shown in Figure 20, first, the light irradiation unit 100, the control unit 400, as shown in FIG. In response to the control signal of Equation 1), the first light having the first diffusion angle and the second light having the second diffusion angle are irradiated to the subject 500 at the same time.

Here, the first light and the second light may have different wavelengths.

Subsequently, the light receiving unit 200 receives the first light having the first diffusion angle and the second light having the second diffusion angle from the subject 500 at the same time according to the control signal of the control unit 400. (S52)

The depth image processor 300 may extract depth image information from the received first and second lights (S54).

Next, the controller 400 determines whether all the depth image information of the subject 500 has been extracted (S56).

If the extraction of the depth image information on the subject 500 is all completed, the process ends. When the extraction of the depth image information on the subject 500 is not completed, steps S50 to S54 may be repeatedly performed.

Therefore, according to the present invention, the diffusion angle with respect to the irradiation light can be varied to accurately and accurately obtain a depth image of a subject located at a far distance.

In addition, since the present invention can acquire a depth image of a subject located at a long distance without using an expensive light receiving sensor, it is possible to implement a depth image obtaining apparatus having improved efficiency at a low cost.

While the above has been shown and described with respect to preferred embodiments of the invention, the invention is not limited to the specific embodiments described above, it is usually in the technical field to which the invention belongs without departing from the spirit of the invention claimed in the claims. Various modifications can be made by those skilled in the art, and these modifications should not be individually understood from the technical spirit or the prospect of the present invention.

100: light irradiation unit 110: light source unit
120: diffuser 200: light receiver
300: depth image processing unit 400: control unit
500: subject 600: mirror
700: mirror control unit 800: scanning mirror

Claims (16)

A light irradiation unit for irradiating a predetermined subject with a first light having a first diffusion angle and a second light having a second diffusion angle different from the first diffusion angle;
A light receiving unit configured to receive the first light and the second light reflected from the subject;
A depth image processor extracting depth image information by using a light quantity ratio of the light quantity of the first light and the second light received by the light receiving unit; And,
And a controller for controlling the light irradiator and the light receiver. The method of claim 1, wherein the light irradiation unit,
A light source unit emitting light;
A first diffusion unit configured to diffuse the light emitted from the light source unit at a first diffusion angle for a first time;
And a second diffusion unit configured to diffuse light emitted from the light source unit at a second diffusion angle different from the first diffusion angle for a second time period. The method of claim 1, wherein the light irradiation unit,
A first light source unit emitting first light for a first time;
A second light source unit emitting a second light for a second time;
A first diffusion unit configured to diffuse the first light emitted from the first light source unit at a first diffusion angle;
And a second diffusion unit configured to diffuse the second light emitted from the second light source unit at a second diffusion angle different from the first diffusion angle. The method of claim 1, wherein the light irradiation unit,
A first light source unit emitting first light having a first wavelength;
A second light source unit emitting a second light having a second wavelength different from the first wavelength;
A first diffusion unit configured to diffuse the first light emitted from the first light source unit at a first diffusion angle;
And a second diffusion unit configured to diffuse the second light emitted from the second light source unit at a second diffusion angle different from the first diffusion angle. The depth image obtaining apparatus of claim 4, wherein the first light and the second light are simultaneously emitted. The method of claim 1, wherein the light irradiation unit,
A first light source unit emitting first light having a first wavelength;
A second light source unit emitting a second light having a second wavelength different from the first wavelength;
And a diffusing portion for diffusing the first light emitted from the first light source portion at a first diffusion angle and diffusing the second light emitted from the second light source portion at a second diffusion angle different from the first diffusion angle. Depth image acquisition device characterized in. The method of claim 6, wherein the first light source and the diffuser has a first distance, the second light source and the diffuser has a second distance,
And the first distance is longer than the second distance. The method of claim 6,
Between the first light source and the diffuser, a mirror for reflecting the first light source is disposed,
And a filter for transmitting the first light source and reflecting the second light source between the second light source unit and the diffusion unit. The depth image obtaining apparatus of claim 8, wherein the mirror, the filter, and the diffusion part are disposed on the same line. The depth image obtaining apparatus of claim 6, further comprising a scanning mirror that scans the first and second light beams diffused from the diffusion unit to the subject. The method of claim 1, wherein the light receiving unit,
During a first time, receiving the first light reflected from the subject,
And receiving the second light reflected from the subject during a second time period. The method of claim 1, wherein the light receiving unit,
A first light receiver which receives the first light reflected from the subject;
A second light receiver configured to receive the second light reflected from the subject,
And a time for receiving the first light and a time for receiving the second light are the same. The method of claim 12,
The first light receiving unit includes a first filter that transmits the first light and reflects the second light,
And the second light receiving unit includes a second filter that transmits the second light and reflects the first light. Irradiating a predetermined object with a first light having a first diffusion angle and a second light having a second diffusion angle different from the first diffusion angle;
Receiving the first light and the second light reflected from the subject; And,
And extracting depth image information by using the light quantity ratio of the received first light and the light quantity ratio of the received second light. The method of claim 14, wherein the irradiating the first and second light,
Irradiating a predetermined object with the first light having the first diffusion angle and blocking the irradiation of the second light for a first time;
Blocking the irradiation of the first light during the second time, and irradiating a second light having a second diffusion angle different from the first diffusion angle,
And the first light and the second light have the same wavelength. The method of claim 14, wherein the irradiating the first and second light,
Simultaneously irradiating a predetermined subject with a first light having the first diffusion angle and a second light having a second diffusion angle different from the first diffusion angle,
And the first light and the second light have different wavelengths.

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