KR102540387B1 - 3d sensor device - Google Patents

Abstract

A light path dividing high-speed three-dimensional sensor device according to the present invention disclosed includes first and second light sources for generating first and second light, respectively, and a light source unit that simultaneously maintains an on state during a sensing operation; A first guide unit for guiding the first light toward a target to be measured along a plurality of paths, a second guide unit for guiding the second light toward the target along a plurality of paths, and the first and second lights reflected from the target A sensing unit that senses a detection signal generated by the sensor, and outputs at least one path among a plurality of paths of the first and second light by the first and second guide units to the object to be interlocked with the sensing operation of the sensing unit, and blocks the other paths. and a control unit for obtaining 3D image data from the detection signal, and the plurality of paths of the first light have incident angles symmetrical with the plurality of paths of the second light based on the detection signal incident to the sensing unit. According to this configuration, high-quality, high-speed, and large-area measurement of a three-dimensional object can be performed using a minimum of light sources, and thus sensing efficiency can be improved.

Description

Optical path splitting high-speed 3D sensor device {3D SENSOR DEVICE}

The present invention relates to a high-speed three-dimensional sensor device for splitting light paths, and more specifically, two light sources having mutually symmetrical incident angles based on a detection signal incident to a sensing unit output a plurality of light paths toward an object, respectively. The present invention relates to an optical path division high-speed 3D sensor device capable of improving 3D measurement efficiency of an object using the principle of light triangulation.

An optical triangulation sensor using a general line laser is a technology that acquires a three-dimensional image by collecting y-axis scan data using one laser. Such an optical triangulation sensor can measure laser in one direction, and thus has a limitation of interference with shadows.

An optical triangulation sensor using such a line laser may be provided as a 3D sensor using a plurality of laser light sources and one camera in order to remove shadows and measurement limit areas. Such a three-dimensional sensor measures a large area by sequentially operating a plurality of laser light sources, thereby degrading the uniformity of a laser beam and being disadvantageous in high-resolution measurement. In addition, since a plurality of laser light sources are operated in a pulse mode, the output of the laser light source is low and the measurement time is limited due to the long exposure of the camera.

Accordingly, in recent years, research on a three-dimensional sensor using optical triangulation, which is economical and has improved measurement accuracy for a large area, has been continuously conducted.

Republic of Korea Patent Publication No. 10-2019-0035202 Republic of Korea Patent Registration No. 10-1314592

An object of the present invention is to improve the 3D measurement efficiency of an object using the principle of laser light triangulation by using two light sources to sequentially output a plurality of light paths so as to have a mutually symmetrical incident angle based on a sensing signal incident to a sensing unit. It is to provide an optical path division high-speed three-dimensional sensor device capable of.

In order to achieve the above object, a high-speed three-dimensional sensor device for dividing a light path according to the present invention includes first and second light sources for generating first and second light, respectively, and is simultaneously turned on during sensing operation. a light source unit that maintains a light source unit, a first guide unit that guides the first light toward a target object to be measured along a plurality of paths, a second guide unit that guides the second light toward the target unit along a plurality of paths, and A sensing unit for sensing detection signals by the reflected first and second lights, and at least one of a plurality of paths of the first and second lights by the first and second guide units to be interlocked with the sensing operation of the sensing unit. and a control unit configured to obtain 3D image data from the sensing signal by outputting one path to the object and controlling other paths to be blocked, wherein the plurality of paths of the first light are the sensing signal incident to the sensing unit. It has an incident angle symmetrical with the plurality of paths of the second light based on .

In addition, the first and second light sources may generate laser light including a line beam.

In addition, the first guide unit faces the first light source and guides the first light into first and second paths having different incident angles toward the object according to a rotation posture controlled by the control unit. a first galvano mirror, a first slit provided between the first galvano mirror and the object, and condensing light through one of the first and second paths and blocking the other; A first reflector provided between an object and reflecting one of the first and second paths of the first light toward the object to change a traveling direction, wherein the second guide unit includes the second light source and the second light source. A second galvano mirror and a second galvano mirror for guiding the second light to third and fourth paths having different incident angles toward the object according to the rotation posture controlled by the control unit, and A second slit provided between the object and condensing and passing one of the third and fourth paths and blocking the other, and provided between the second slit and the object, to pass the second light through the third path. and a second reflector for changing a traveling direction by reflecting any one of the fourth paths toward the target object.

In addition, incident angles of the first and fourth paths are greater than incident angles of the second and third paths based on the detection signal, and the first and second reflectors transmit the first and fourth paths to the target object. can be reflected.

In addition, a plurality of adjusting lenses provided between the first and second guide units and the object, respectively adjusting the plurality of paths separated from the first and second light and guiding them to the object. It may include an adjusting unit including an adjusting lens.

In addition, the shape and number of the plurality of adjusting lenses may be adjusted to maintain the shape of the first and second lights and adjust the length of a line beam.

In addition, the sensing unit may include a 3D camera facing the object and photographing the detection signal.

In addition, the first guide unit is connected to a first switch that separates the first light into first and second paths through which the first light is incident, and is connected to the first switch to guide the first and second paths. A second switch including first and second optical fibers for respectively outputting to the target object, wherein the second guide unit receives the second light and separates the second light into third and fourth paths; It may include third and fourth optical fibers connected to the second switch and outputting the third and fourth paths to the object, respectively.

In addition, the control unit controls the plurality of paths of the first and second lights to be sequentially incident on the object and sensed by the sensing unit, so that a plurality of sensing signals respectively obtained by the plurality of paths separated from one light values can be calibrated to the same characteristic values.

A light path dividing high-speed three-dimensional sensor device according to another preferred aspect of the present invention includes first and second light sources respectively generating first light and second light, and simultaneously maintaining an on state during a sensing operation. a light source unit for measuring, a first guide unit for guiding the first light in first and second paths toward an object to be measured, and a second guide unit for guiding the second light in third and fourth paths toward the object , a sensing unit configured to sense detection signals that are incident on the object through the first to fourth paths and reflected, respectively, and the first to fourth paths are sequentially output to the object in conjunction with the sensing unit. and a control unit controlling a second guide unit to obtain 3D image data from the detection signal, wherein the first and second paths are the third and fourth paths based on the detection signal incident to the sensing unit. may have incident angles symmetrical to each other.

In addition, the first and second light sources may generate laser light including a line beam.

In addition, it is provided between the first and second guide parts and the object, and includes an adjusting part for adjusting the first to fourth paths, wherein the adjusting part maintains the shape of the first and second lights and the first to fourth paths. It may include a plurality of adjustment lenses whose shape and number are adjusted so that the length of each of the four paths can be adjusted.

In addition, the first guide unit faces the first light source and guides the first light into the first and second paths having different incident angles toward the object according to a rotation posture controlled by the control unit. a first galvano mirror, a first slit provided between the first galvano mirror and the object, and condensing and passing either one of the first and second paths and blocking the other; and A first reflector provided between the object and reflecting one of the first and second paths of the first light toward the object to change a traveling direction, wherein the second guide unit comprises: the second light source a second galvanometer mirror for guiding the second light to the third and fourth paths having different incident angles toward the object according to a rotation attitude controlled by the control unit, facing the second galvanometer; A second slit provided between the mirror and the object to condense and pass any one of the third and fourth paths and block the other, and provided between the second slit and the object, so that the second light It may include a second reflector for changing a traveling direction by reflecting any one of the third and fourth paths toward the target object.

In addition, incident angles of the first and fourth paths are greater than incident angles of the second and third paths based on the detection signal, and the first and second reflectors transmit the first and fourth paths to the target object. can be reflected.

In addition, the first guide unit is connected to a first switch for separating the first light into the first and second paths through which the first light is incident, and is connected to the first switch to direct the first and second paths to the object, respectively. It includes first and second optical fibers for outputting, and the second guide unit is connected to a second switch for separating the second light into the third and fourth paths and the second reflector, It may include third and fourth optical fibers for outputting the third and fourth paths to the object, respectively.

In addition, the sensing unit may include a 3D camera facing the object and photographing the detection signal.

In addition, the control unit controls the first and second guide units so that any one of the first to fourth paths travels to the object and the remaining paths are blocked, and two paths separated from one light It is possible to correct the two sensing values obtained respectively by the same characteristic value.

According to the present invention having the configuration as described above, first, a plurality of light paths that are symmetrical to each other based on the detection signal reflected from the object are provided using two light sources and sensed by one sensing unit, thereby measuring the symmetrical light path. You can remove the shaded data. Accordingly, efficiency of 3D measurement of a three-dimensional object may be improved by the principle of optical triangulation.

Second, it is possible to measure high-speed and high-quality three-dimensional three-dimensional data even with two light sources, which is economically advantageous compared to conventional measurement methods using multiple light sources.

Third, it is possible to overcome the measurement limitation by solving the noise problem of the light source deviation due to the three-dimensional stereoscopic sensing using one existing light source. In particular, by acquiring and correcting two data from one light source, it is advantageous to correct the characteristic value of the laser.

Fourth, the output power loss of the light source can be minimized by applying the continuous wave (CW) mode. Therefore, it is advantageous to secure a sufficient amount of light for 3D scanning.

Fifth, since a light path can be guided using a galvano mirror capable of rotating an angle at high speed, an incident angle advantageous to high resolution can be implemented regardless of the distance between the light source and the target object.

1 is a configuration diagram schematically showing an optical path splitting high-speed three-dimensional sensor device according to a preferred embodiment of the present invention.
FIG. 2 is a schematic configuration diagram for explaining a first path of the first light shown in FIG. 1 .
FIG. 3 is a schematic configuration diagram for explaining a second path of the first light shown in FIG. 1 .
FIG. 4 is a schematic configuration diagram for explaining a third path of the second light shown in FIG. 1 .
FIG. 5 is a schematic configuration diagram for explaining a fourth path of the second light shown in FIG. 1 .
FIG. 6 is a graph schematically illustrating a CW mode and a conventional pulse mode of the optical path splitting high-speed 3D sensor device according to the embodiment shown in FIG. 1 . and,
7 is a configuration diagram schematically showing an optical path splitting high-speed three-dimensional sensor device according to another preferred embodiment of the present invention.

Hereinafter, a preferred embodiment of the present invention will be described with reference to the accompanying drawings. However, the spirit of the present invention is not limited to such embodiments, and the spirit of the present invention may be proposed differently by adding, changing, and deleting components constituting the embodiments, but this is also included in the spirit of the present invention. It will be.

Referring to FIG. 1, a light path dividing high-speed 3D sensor device 1 according to a preferred embodiment of the present invention includes a light source unit 10, a first guide unit 20, a second guide unit 30, and a control unit. (40), a sensing unit 50 and a control unit 60.

For reference, the optical path division high-speed 3D sensor device 1 described in the present invention is exemplified as including a 3D scanner for imaging an object O having a three-dimensional shape. However, it goes without saying that the optical path splitting high-speed 3D sensor device 1 according to the present invention is not limited to a 3D scanner, and can be applied to various technical fields capable of obtaining 3D data of an object O.

The light source unit 10 includes first and second light sources 11 and 12 generating first and second lights 11a and 12a, respectively. Here, the first and second light sources 11 and 12 are exemplified as including a laser generating means for generating a laser beam in the form of a line beam. Therefore, the first and second light sources 11 and 12 generate first and second laser beams, respectively, and hereinafter referred to as first and second lights 11a and 12a for convenience of description. Explain.

The first and second light sources 11 and 12 are positioned to face each other with a sensing unit 50 to be described later interposed therebetween. More preferably, the first and second light sources 11 and 12 generate the first and second lights 11a and 12a at positions symmetrical to each other with respect to the sensing unit 50 .

In addition, the first and second light sources 11 and 12 maintain an on state at the same time during the 3D sensing operation of the object O, so that the first and second light sources 11a and 12a are emitted. continue to occur That is, the first and second light sources 11 and 12 are operated in a continuous wave (CW) mode. Light generating operations of the first and second light sources 11 and 12 will be described later in detail along with sensing operations.

For reference, the laser wavelength range of the first and second lights 11a and 12a generated from the first and second light sources 11 and 12 depends on the type, size, material, and surface condition of the object O. can be changed In addition, the intensity of the light source unit 10 may be adjusted according to the reflectivity of the object O to be measured.

The first guide unit 20 condenses the first light 11a output as a line beam from the first light source 11 to guide a path to the object O. At this time, the first guide unit 20 may guide the first light 11a to a plurality of paths L1 and L2. In this embodiment, the first guide unit 20 is illustrated and illustrated as guiding the first light 11a through two paths L1 and L2, but is not necessarily limited thereto. Hereinafter, for convenience of description, the first guide unit 20 will be referred to as separating the first light 11a into first and second paths L1 and L2.

Meanwhile, the first guide part 20 guides only one of the first and second paths L1 and L2 output as a line beam from the first light 11a to the object O to be measured. To this end, the first guide part 20 includes a first galvano mirror 21 , a first slit 22 and a first reflector 23 .

The first galvano mirror 21 faces the first light source 11 and emits the first light 11a generated from the first light source 11 according to a rotation posture controlled by a controller 60 to be described later. It is guided to the first or second path (L1) (L2). The first galvano mirror 21 can rapidly irradiate the first light 11a to the same point of the object O in conjunction with the sensing unit 50 to be described later. That is, the first galvano mirror 21 is for adjusting the path of the incident first light 11a at high speed, and can adjust the path of the first light 11a according to the rotation posture.

At this time, as the first galvano mirror 21 can change the path of the first light 11a, the distance between the object O and the light source 11 is narrow, which is advantageous for high resolution, which is difficult to achieve. It is possible to guide the first path L1 of the first light 11a within the range, that is, at an incident angle close to 90°. Therefore, the first galvano mirror 21 directs the first path L1 of the first light 11a to be advantageous for high resolution regardless of installation conditions such as the distance between the light source 11 and the object O. It has the advantage of being able to guide you.

The first slit 22 is provided between the first galvano mirror 21 and the object O, and condenses the first light 11a reflected from the first galvano mirror 21 and incident thereon to the object O. ) is output as Here, the first slit 22 blocks the deterioration of the quality of light due to the rubbing of the first light 11a guided by the rotating first galvano mirror 21, and any one of the selected first light 11a It focuses and aligns only one path.

In addition, the first slit 22 selectively condenses and passes only one path among the first light 11a irradiated to the first and second paths L1 and L2 by the first galvano mirror 21. let it To this end, when the first slit 22 passes the first path L1 of the first light 11a by the control unit 60, the second path L2 is blocked, and the second path When passing through (L2), it can be controlled to block the first path (L1).

The first reflector 23 changes the traveling direction by reflecting any one of the first and second paths L1 and L2 of the first light 11a toward the object O. The first reflector 23 is provided between the first slit 22 and the target object O, and changes the traveling direction of the first light 11a according to the reflection angle.

Meanwhile, the first and second paths L1 and L2 guided by the first galvano mirror 21 generate a detection signal S that is reflected from the object O and incident on the sensing unit 50 to be described later. As a reference, incident angles A1 and A2 incident on the object O are different. In this embodiment, the first path L1 of the first light 11a is incident on the object O at the first incident angle A1, and the second path L2 is incident on the object O at the second incident angle A2. It is exemplified by being incident on (O). Here, the first incident angle A1 is greater than the second incident angle A2, and as the first path L1 is guided from the outside relative to the second path L2, the first reflector 23 The path is reflected to the target object O and guided.

The first light 11a is output toward the object O through first and second paths L1 and L2 having different first and second incident angles A1 and A2, so that the first and second light beams 11a are output toward the object O. 2 The measurement limit area of the first light 11a incident at any one incident angle among the incident angles A1 and A2 is incident at the other incident angle among the first and second incident angles A1 and A2 It can be measured by the first light 11a. Here, the first incident angle A1 is approximately 45° and the second incident angle A2 is approximately 30°, but is not limited thereto. That is, according to sensing conditions such as the type, size, and three-dimensional shape of the object O, the first and second incident angles A1 and A2 may be variable.

For reference, the incident angle (A1) (A2) of the first light (11a), the closer to 90 ° relative to the sensing unit 50 to be described later, the higher the resolution, and the closer to 0 °, the easier to measure precision parts do. Accordingly, since the first incident angle A1 is close to 90°, the resolution is excellent, and the second incident angle A2 is close to 0°, which is advantageous for precise measurement, so that the measurement data of the first light 11a can be obtained. can complement each other.

The second guide unit 30 condenses the second light 12a output in the form of a line beam from the second light source 12 into a plurality of paths and guides the second light 12a to the object O. Similar to the first guide unit 20, the second guide unit 30 guides the second light 12a along two paths L3 and L4, and for convenience of explanation, the third and third paths. Four paths (L3) (L4) will be referred to and described respectively.

The second guide unit 30 includes a second galvano mirror 31, a second slit 32 and a second light 12a to guide the second light 12a to the third and fourth paths L3 and L4. A reflector 33 is included.

The second galvano mirror 31 faces the second light source 12 and emits the second light 12a generated from the second light source 12 according to a rotation posture controlled by a controller 60 to be described later. It guides to the third and fourth paths (L3) (L4). Like the first galvano mirror 21, the second galvano mirror 31 is one of adjusting means capable of adjusting the incident angle of the second light 12a according to the rotational posture.

Meanwhile, the rotation angle of the second galvano mirror 31 is quickly controlled by the control unit 60, so that the incident angle of the second light 12a is quickly switched, which is advantageous for high-speed measurement. In addition, like the first galvano mirror 21, the second galvano mirror 31 has an incident angle close to 90°, which is advantageous for high-resolution measurement, regardless of the distance between the object O and the light source 12. A fourth path L4 of the light 12a may be guided.

The second slit 32 is provided between the second galvano mirror 31 and the object O, and collects the incident second light 12a reflected from the second galvano mirror 31 to form the object O. ) is output as Similar to the first slit 22, the second slit 32 also blocks the deterioration of light quality due to the rubbing of the second light 12a guided by the rotating second galvano mirror 31, and Only one path of the second light 12a is condensed and aligned. Therefore, the second slit 32 is controlled by the control unit 60 to pass through any one path selected from the third and fourth paths L3 and L4 and block the other path. .

The second reflector 33 reflects any one of the third and fourth paths L3 and L4 of the second light 12a toward the object O. Similar to the first reflector 23, the second reflector 33 is provided between the second slit 32 and the object O to change the traveling direction of the second light 12a.

For reference, the third and fourth paths L3 and L4 of the second light 12a guided by the second galvano mirror 31 are based on the detection signal S reflected from the object O. The light is incident on the object O at different angles, that is, third and fourth incident angles A3 and A4. In this embodiment, the third path L3 of the second light 12a is incident on the object O at the third incident angle A3, and the fourth path L4 is incident on the object O at the fourth incident angle A4. It is exemplified by being incident on (O). Here, the fourth angle of incidence A4 is greater than the third angle of incidence A3, and as the fourth path L4 is guided from the outside relative to the third path L3, the fourth path L4 is the third path L4. It is guided so that the traveling path is switched by the 2 reflector 33.

Meanwhile, the third incident angle A3 is approximately 30° similar to the second incident angle A2, and the fourth incident angle A4 is approximately 45° similar to the first incident angle A1, but is limited. it is not a matter That is, in this embodiment, the first and fourth incident angles A1 and A4 are the same, and the second and third incident angles A2 and A3 are the same, so that Based on the detection signal (S), it has a mutually symmetrical angle. Therefore, the first light 11a is incident on the object O at the first and second incident angles A1 and A2, and the second light 12a changes the shade of the measured data to the fourth and third incident angles A1 and A2. The light incident on the object O at the angles A4 and A3 may be removed as measured data.

The controller 40 adjusts the paths L1, L2, L3, and L4 of the first and second lights 11a and 12a guided by the first and second guide units 30 so as to control the target object. Guide to (O). Here, the controller 40 guides the first and second paths L1 and L2 of the first light 11a and the third and fourth paths L3 and L4 of the second light 12a. It includes a plurality of adjusting lenses (41 to 48) for

The plurality of adjustment lenses 41 to 48 maintain the shape of the line beam of the first and second lights 11a and 12a, and the length of the line beam by the first and second lights 11a and 12a. can be changed. To this end, the plurality of adjusting lenses 41 to 48 may be adjusted in shape, such as the number, thickness and size, in order to adjust the first and second lights 11a and 12a.

More specifically, the control unit 40 is separated from the first reflector 23 and guides the first path L1 of the first light 11a whose traveling angle is adjusted by the first galvano mirror 21. It may include first and second adjusting lenses 41 and 42 and third and fourth adjusting lenses 43 and 44 guiding the second path L2 of the first light 11a. Here, the first and second adjusting lenses 41 and 42 are positioned between the first reflector 23 and the object O, and the third and fourth adjusting lenses 43 and 44 are positioned between the first slit 22 ) and the object (O).

In addition, the adjusting unit 40 includes fifth and sixth adjusting lenses 45 and 46 for guiding the third path L3 of the second light 12a separated from the second reflector 33, and the second light 12a. Seventh and eighth adjusting lenses 47 and 48 guiding the fourth path L4 of the light 12a may be included. Here, the fifth and sixth adjusting lenses 45 and 46 are positioned between the second slit 32 and the object O, and the seventh and eighth adjusting lenses 47 and 48 are positioned between the second slit 32 and the object O, and the second reflector 33 ) and the object (O).

For reference, in this embodiment, it is illustrated that the two adjustment lenses 41 to 48 are positioned corresponding to the first to fourth paths L1, L2, L3, and L4, respectively, but the first and second adjustment lenses 41 to 48 are located. Depending on the output conditions of the two lights 11a and 12a, the distance to the target object O, etc., the number can be changed in various ways. That is, it is not limited to only the number of adjusting lenses 41 to 48 of the adjusting unit 40 shown in FIG. 1, and various changes are possible according to use conditions.

The sensing unit 50 senses a detection signal S in which the first and second lights 11a and 12a are incident on the object O and reflected. The sensing unit 50 may include a camera 51 facing the object O and photographing the detection signal S, and a camera lens 52 guiding the detection signal S to the camera 51. there is.

The camera 51 receives the detection signal S incident through the camera lens 52 and obtains 3D image data of the object O. Obtaining image data using the camera 51 together with a sensing operation will be described later in more detail.

The control unit 60 interlocks with the sensing operation of the sensing unit 50 and transmits the first and second light beams 11a and 12a guided by the first and second guide units 20 and 30. At least one of the fourth paths L1, L2, L3, and L4 is output to the object O, and the remaining paths are blocked. The controller 60 controls the first and second lights 11a. Signals are exchanged with the first and second guide parts 20 and 30 for guiding ) 12a, respectively, and the rotation angles of the first and second galvano mirrors 21 and 31 and the first and second slits (22) It is possible to control the path blocking range of 32. At this time, the control unit 60 is connected to the sensing unit 50 and interlocks with the signal input from the sensing unit 50 to first and second It controls the operation of the guide parts 20 and 30.

In addition, the control unit 60 is connected to the sensing unit 50 and calculates 3D data through data acquired by the sensing unit 50 . As a result, the controller 60 3-dimensionally senses the object O. To this end, the controller 60 controls the object O to move linearly. A configuration in which the sensing unit 50 measures a 3D stereoscopic image according to the principle of optical triangulation by radiating a line beam to the object O undergoing linear motion is not a gist of the present invention, so a detailed description thereof will be omitted.

For reference, the first and second lights 11a and 12a are separated into two paths and then output, and some of the plurality of light paths are directed to the object ( By being guided to O), two data are acquired using one light source. Therefore, the control unit 60 can correct the characteristic value of the laser for one light source through two data obtained from one light source. Due to this, the control unit 60 has an advantage of easy correction of common noise, uniformity of the laser itself, and the like.

The 3D sensing operation of the optical path dividing high-speed 3D sensor device 1 according to the present invention having the above configuration will be described with reference to FIGS. 2 to 5 .

As shown in FIG. 2 , the first and second lights 11a and 12a are simultaneously generated from the first and second light sources 11 and 12 . Here, while the 3D sensing operation for the object O is in progress, the first and second light sources 11 and 12 are always turned on.

The generated first and second lights 11a and 12a enter the first and second galvano mirrors 21 and 31, respectively, and the first and second light beams 11a and 12a are generated according to the rotation posture controlled by the control unit 60. Only one of the paths of the two lights 11a and 12a is adjusted to pass. More specifically, only one of the first to fourth paths L1, L2, L3, and L4 separated from the first and second lights 11a and 12a is irradiated toward the object O. It is guided by the rotation postures of the first and second galvano mirrors 21 and 31.

For reference, in this embodiment, it is exemplified that the first to fourth paths L1, L2, L3, and L4 are sequentially output to the object O.

First, the first path L1 of the first light 11a is reflected by the first galvano mirror 21 whose rotation is controlled by the control unit 60, and passes through the first slit 22 to the object O ) is investigated. At this time, the second to fourth paths L2, L3, and L4 are blocked by the first and second slits 22 and 32, and the first path L1 is the first galvano mirror 21 Even if chafing occurs due to rotation of the light, it can be irradiated in a condensed state by the first slit 21 .

The first path L1 of the first light 11a passing through the first slit 22 is changed by the first reflector 23 and guided toward the object O. Here, the first light 11a is incident on the object O along the first path L1 at a first incident angle A1.

The first light 11a irradiated to the object O through the first path L1 is reflected from the object O and becomes a detection signal S through the camera lens 52 of the sensing unit 50. It flows into (51). Accordingly, the camera 51 captures the detection signal S that is incident on the object O through the first path L1 of the first light 11a and is reflected.

When the photographing of the object O by the first path L1 is completed, as shown in FIG. The second path (L2) of the target object (O) is irradiated. At this time, the first, third and fourth paths L1, L3 and L4 are blocked by the first and second slits 22 and 32.

The first light 11a passing through the first slit 22 is guided along the second path L2 and sequentially passes through the third and fourth adjusting lenses 43 and 44 to the object O. It is investigated. At this time, the first light 11a is guided along the second path L2 and is irradiated to the object O at the second incident angle A2 of about 30°. The first light 11a irradiated to the object O through the second path L2 is reflected from the object O as the detection signal S, and thus is photographed by the camera 51 having a camera lens 52. do.

When the photographing of the object O by the second path L2 is completed, as shown in FIG. 4 , the controller 60 controls the second galvano mirror 31 to transmit the second light 12a to the third path. (L3) is irradiated toward the object (O). At this time, the first and second slits 32 are controlled by the controller 60 to block all of the first, second, and fourth paths L1, L2, and L4.

The second light 12a is irradiated onto the object O through the fifth and sixth adjusting lenses 45 and 46 sequentially along the third path L3. At this time, the third path L3 of the second light 12a is irradiated onto the object O at a third incident angle A3 of about 30°. The second light 12a irradiated to the object O through the third path L3 is reflected from the object O as a detection signal S, and is detected by the camera 51 having the camera lens 52. are filmed

When the photographing of the object O by the third path L3 of the second light 12a is completed, as shown in FIG. 5 , the controller 60 resets the rotation posture of the second galvano mirror 31 again. Controlly irradiates only the fourth path L4 of the second light 12a toward the object O. Even at this time, the first and second slits 32 block all of the first to third paths L1, L2, and L3.

The fourth path L4 of the second light 12a is guided toward the object O by the second reflector 33 . Along the fourth path L4, the second light 12a passes through the seventh and eighth adjusting lenses 47 and 48 sequentially and is radiated onto the object O. At this time, the fourth path L4 radiates the second light 12a to the object O at a fourth incident angle A4 of approximately 45°.

The second light 12a irradiated to the object O through the fourth path L4 is reflected from the object O as a detection signal S and introduced into the camera 51 through the camera lens 52, thereby capturing the image. do.

As described above, the first and second lights 11a and 12a generated from the first and second light sources 11 and 12 form the first to fourth paths L1, L2, L3, and L4. By sequentially controlling and photographing, the control unit 60 connected to the camera 51 obtains 3D photographing data of the object O. At this time, the first to fourth angles of incidence (A1) (A2) (A3) (A4) of the first to fourth paths (L1) (L2) (L3) (L4) are changed according to the conditions of the object (O). According to the principle of optical triangulation, the measurement resolution can be further improved as the incident angle increases.

In addition, the shading can be removed from the data measured by the first path (L1) to the data measured by the fourth path (L4) that is symmetrical, and the data measured by the second path (L2) is symmetrical. Shading can be removed with the data measured by the three-path L3. Therefore, it is advantageous to improve the quality of 3D image data of the object O.

On the other hand, the first and second light sources 11 and 12 maintain an on state at all times during an operation of obtaining 3D photographing data, so that they are in the continuous wave (CW) mode as shown in (a) of FIG. 6 . The optical path division high-speed 3D sensor device 1 according to the present invention driven in the continuous wave mode is advantageous in securing sufficient light intensity compared to the conventional pulse mode (see FIG. 6(b)).

For reference, the pulse time of the light generated by the pulse mode is shortened to correspond to the high speed, so the power of the light generated in the conventional pulse mode is reduced. In contrast, the optical path division high-speed 3D sensor device 1 according to the present invention enables 3D stereoscopic imaging in the continuous wave (CW) mode, and thus the maximum output state of the first and second light sources 11 and 12. can be maintained, and correspondingly, the exposure time of the camera 51 can be shortened compared to the conventional pulse mode.

The exposure time of the camera 51 is a factor that directly affects the measurement speed, and the first and second galvano mirrors 23 and 33 are used to transmit the first and second lights 11a and 12a at high speed. You can change the route. Accordingly, only two light sources 11 and 12 can provide a plurality of light paths that are advantageous to high resolution and symmetrical to each other, thereby obtaining high-speed and high-quality 3D sensing values for the object O including a large area. can do.

On the other hand, when a plurality of light sources are applied, the noise generation rate is relatively increased. However, in the case of the present invention, as only two light sources 11 and 12 are used, noise generation during photographing can be reduced and the correction effect is excellent. In particular, by obtaining two 3D sensing values using one light generated from one light source, common noise and light source itself are reduced through correction of the same characteristic value for the two 3D sensing values obtained from one light source. It is useful for correction of uniformity, etc.

Referring to FIG. 7, a light path splitting high-speed three-dimensional sensor device 1 according to another embodiment of the present invention is schematically shown.

As shown in FIG. 7 , the optical path division high-speed 3D sensor device 1 according to another embodiment includes a light source unit 10, a first guide unit 120, a second guide unit 130, and a sensing unit 50. and a control unit 60.

Here, configurations of the light source unit 10, the sensing unit 50, and the second control unit 60 are similar to those of the above-described embodiment. Accordingly, a detailed description of the light source unit 10, the sensing unit 50, and the second control unit 60 will be omitted, and will be described with the same reference numerals as those of FIGS. 1 to 5.

The first guide unit 120 includes a first switch 121 for receiving the first light 11a and separating the first light 11a into first and second paths L1 and L2, and first and second paths L1 and L2. It includes first and second optical fibers 122 and 123 for irradiating the second paths L1 and L2 to the object O, respectively. In addition, the second guide unit 130 includes a second switch 131 for receiving the second light 12a and separating the second light 12a into third and fourth paths L3 and L4; It includes third and fourth optical fibers 132 and 133 for irradiating the third and fourth paths L3 and L4 to the object O, respectively.

The first and second switches 121 and 131 include optical switches connected to and controlled by the control unit 60 . The switching of the first and second switches 121 and 131 is controlled by the control unit 60, so that only one of the first to fourth optical fibers 122, 123, 132, and 133 is an object ( to O). For reference, when any one of the first to fourth optical fibers 122, 123, 132, and 133 is controlled to be connected to the first and second switches 121 and 131, the other optical fibers operate as one As in the example, path guidance of the first and second lights 11a and 12a is blocked.

In the light path division high-speed 3D sensor device 200 according to this other embodiment, the first and second lights 11a and 12a including lasers are connected to the first to fourth optical fibers 122, 123, and 132 When the path is guided by 133, the wavefront alignment of the first and second lights 11a and 12a is more advantageous, and light quality can be improved. In addition, the first to fourth optical fibers 122, 123, 132, and 133 are more advantageous in miniaturizing the light path splitting high-speed three-dimensional sensor device 100 due to the flexibility of the fiber material itself.

On the other hand, the light path division high-speed 3D sensor device 200 according to another embodiment is implemented in a continuous wave (CW) mode in which the first and second light sources 11 and 12 are always turned on. Accordingly, the same effect as in one embodiment may be obtained without loss of output of the first and second lights 11a and 12a.

As described above, although it has been described with reference to the preferred embodiments of the present invention, those skilled in the art will variously modify and change the present invention within the scope not departing from the spirit and scope of the present invention described in the claims below. You will understand that it can be done.

1, 100: optical path division high-speed 3-dimensional sensor device
L1: first path L2: second path
L3: 3rd path L4: 4th path
S: detection signal 10: light source
11: first light source 11a: first light source
12: second light source 12a: second light source
20, 120: first guide part 21: first galvano mirror
22: first slit 23: first reflector
30, 130: second guide part 31: second galvano mirror
32: second slit 33: second reflector
40: control unit 50: sensing unit
51: camera

Claims (17)

a light source unit operating in a continuous wave mode including first and second light sources for generating first and second light, and maintaining an on state at the same time during a sensing operation;
a first guide unit that separates and guides the first light into a plurality of paths toward an object to be measured;
a second guide unit configured to separate and guide the second light into a plurality of paths toward the object;
a sensing unit configured to sense detection signals generated by the first and second lights reflected from the object; and
In order to interlock with the sensing operation of the sensing unit, at least one of a plurality of paths of the first and second light by the first and second guide units is output to the object and the other paths are controlled to be blocked, so that the detection A control unit for obtaining 3D image data from the signal;
Including,
The plurality of paths of the first light have incident angles symmetrical with the plurality of paths of the second light based on the detection signal incident to the sensing unit,
The first guide part,
a first galvano mirror facing the first light source and guiding the first light into first and second paths having different incident angles toward the object according to a rotation posture controlled by the controller;
a first slit provided between the first galvano mirror and the target object to condense light through one of the first and second paths and to block the other; and
a first reflector provided between the first slit and the object to reflect one of the first and second paths of the first light toward the object to change a traveling direction;
including,
The second guide part,
a second galvano mirror facing the second light source and guiding the second light into third and fourth paths having different incident angles toward the object according to a rotation posture controlled by the controller;
a second slit provided between the second galvano mirror and the object to condense and pass one of the third and fourth paths and block the other; and
a second reflector provided between the second slit and the object to reflect one of the third and fourth paths of the second light toward the object to change a traveling direction;
Optical path splitting high-speed three-dimensional sensor device comprising a. According to claim 1,
Wherein the first and second light sources generate laser light including a line beam. delete According to claim 1,
Based on the detection signal, incident angles of the first and fourth paths are greater than incident angles of the second and third paths,
The first and second reflectors reflect the first and fourth paths to the target object. According to claim 1,
A plurality of adjusting lenses, including a plurality of adjusting lenses provided between the first and second guide parts and the object, respectively adjusting the plurality of paths separated from the first and second light beams and guiding them to the object Control unit comprising a;
Optical path splitting high-speed three-dimensional sensor device comprising a. According to claim 5,
The optical path division high-speed three-dimensional sensor device wherein the shape and number of the plurality of adjustment lenses are adjusted so as to maintain the shape of the first and second lights and adjust the length of the line beam. According to claim 1,
The optical path splitting high-speed 3D sensor device comprising a 3D camera for photographing the detection signal by facing the sensing unit. a light source unit operating in a continuous wave mode including first and second light sources for generating first and second light, and maintaining an on state at the same time during a sensing operation;
a first guide unit that separates and guides the first light into a plurality of paths toward an object to be measured;
a second guide unit configured to separate and guide the second light into a plurality of paths toward the object;
a sensing unit configured to sense detection signals generated by the first and second lights reflected from the object; and
In order to interlock with the sensing operation of the sensing unit, at least one of a plurality of paths of the first and second light by the first and second guide units is output to the object and the other paths are controlled to be blocked, so that the detection A control unit for obtaining 3D image data from the signal;
Including,
The plurality of paths of the first light have incident angles symmetrical with the plurality of paths of the second light based on the detection signal incident to the sensing unit,
The first guide part,
a first switch for receiving the first light and separating the first light into first and second paths; and
first and second optical fibers connected to the first switch and outputting the first and second paths to the object, respectively;
including,
The second guide part,
a second switch through which the second light is incident and separates the second light into third and fourth paths; and
third and fourth optical fibers connected to the second switch and outputting the third and fourth paths to the object, respectively;
Optical path splitting high-speed three-dimensional sensor device comprising a. According to claim 1,
The control unit controls so that the plurality of paths of the first and second lights are sequentially incident on the object and sensed by the sensing unit, so that a plurality of sensing values obtained by the plurality of paths separated from one light are obtained. Optical path splitting high-speed 3D sensor device that corrects with the same characteristic value. a light source unit operating in a continuous wave mode including first and second light sources for generating first and second light, and maintaining an on state at the same time during a sensing operation;
a first guide unit that separates and guides the first light into first and second paths toward an object to be measured;
a second guide unit for separating and guiding the second light into third and fourth paths toward the object;
a sensing unit configured to sense detection signals incident on the object through the first to fourth paths and reflected respectively; and
a controller that obtains 3D image data from the detection signal by controlling the first and second guide units so that the first to fourth paths are sequentially output to the object in conjunction with the sensing unit;
Including,
The first and second paths have incident angles symmetrical to those of the third and fourth paths based on the detection signal incident to the sensing unit,
The first guide part,
a first galvano mirror facing the first light source and guiding the first light to the first and second paths having different incident angles toward the object according to a rotation posture controlled by the controller;
a first slit provided between the first galvano mirror and the target object to condense light through one of the first and second paths and to block the other; and
a first reflector provided between the first slit and the object to reflect one of the first and second paths of the first light toward the object to change a traveling direction;
including,
The second guide part,
a second galvano mirror facing the second light source and guiding the second light to the third and fourth paths having different incident angles toward the object according to a rotation posture controlled by the controller;
a second slit provided between the second galvano mirror and the object to condense and pass one of the third and fourth paths and block the other; and
a second reflector provided between the second slit and the object to reflect one of the third and fourth paths of the second light toward the object to change a traveling direction;
Optical path splitting high-speed three-dimensional sensor device comprising a. According to claim 10,
Wherein the first and second light sources generate laser light including a line beam. According to claim 10,
an adjusting unit provided between the first and second guide units and the object to control the first to fourth paths;
Including,
The control unit includes a plurality of adjustment lenses whose shape and number are adjusted so as to maintain the shape of the first and second lights and adjust the length of each of the first to fourth paths. delete According to claim 10,
Based on the detection signal, incident angles of the first and fourth paths are greater than incident angles of the second and third paths,
The first and second reflectors reflect the first and fourth paths to the target object. a light source unit operating in a continuous wave mode including first and second light sources for generating first and second light, and maintaining an on state at the same time during a sensing operation;
a first guide unit that separates and guides the first light into first and second paths toward an object to be measured;
a second guide unit for separating and guiding the second light into third and fourth paths toward the object;
a sensing unit configured to sense detection signals incident on the object through the first to fourth paths and reflected respectively; and
a controller that obtains 3D image data from the detection signal by controlling the first and second guide units so that the first to fourth paths are sequentially output to the object in conjunction with the sensing unit;
Including,
The first and second paths have incident angles symmetrical to those of the third and fourth paths based on the detection signal incident to the sensing unit,
The first guide part,
a first switch for separating the incident light into the first and second paths; and
first and second optical fibers connected to the first switch and outputting the first and second paths to the object, respectively;
including,
The second guide part,
a second switch for separating the second light incident into the third and fourth paths; and
third and fourth optical fibers connected to the second switch and outputting the third and fourth paths to the object, respectively;
Optical path splitting high-speed three-dimensional sensor device comprising a. According to claim 10,
The optical path splitting high-speed 3D sensor device comprising a 3D camera for photographing the detection signal by facing the sensing unit. According to claim 10,
The control unit,
Controlling the first and second guide units so that any one of the first to fourth paths proceeds to the object and the remaining paths are blocked;
An optical path splitting high-speed three-dimensional sensor device that corrects two sensing values obtained by two paths separated from one light to the same characteristic value.

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