KR20150087612A - Apparatus and method for generating structured light - Google Patents

Abstract

The present invention relates to an apparatus and a method for generating structured light, which can obtain depth images of a subject using a vertical cavity surface emitting laser (VCSEL) light source. The apparatus comprises: a light emitting unit where multiple light sources are arranged in a matrix shape; a pattern converting unit which converts a first light pattern generated from the light emitting unit into a second light pattern; and a duplicating unit which duplicates the converted second light pattern into multiple patterns, generates structured light, and transmits the generated structured light. In addition, in the light emitting unit, adjacent light sources have a minimum reference interval which can be determined by the quantity of light of the adjacent light sources.

Description

[0001] APPARATUS AND METHOD FOR GENERATING STRUCTURED LIGHT [0002]

The present invention relates to a structured light generating apparatus, and more particularly, to a structured light generating apparatus and method capable of acquiring a depth image of a subject using a multiple vertical cavity surface emitting laser (VCSEL) .

Generally, the three-dimensional image information includes geometry information and color information, and the shape information can be obtained using a depth image.

Recently, in order to acquire such a 3D depth image, a method of acquiring depth image information from an infrared image using an active light source is used instead of an existing method using two or more visible light images.

Of the depth measurement methods, a measurement method using a two-dimensional photometer can be typified by a structured light method using spatial deformation of a light source and a time-of-flight (ToF) method using temporal deformation of a light source.

Here, in the structured light system, a depth of an object is measured by irradiating an object with a laser beam coded with a specific pattern, recording the returned light reflected by the camera, and calculating a shift amount of the reflected light .

This method is disadvantageous in that it is difficult to apply to a mobile product due to a limitation in downsizing due to a physical size of a light-emitting portion and a light-receiving portion which use a laser light source and receive coded reflected light.

In addition, this method has a problem that a light source of high output is required because a plurality of structured light sources are generated by using a small number of light sources, and the optical efficiency is lowered in an optical element by pattern formation.

In this case, in the light-receiving sensor such as a camera, stable three-dimensional depth information can be obtained as the difference in brightness between the portion where the light spot exists and the portion where the light spot does not exist is large in order to distinguish the structured light from the disturbance light.

Therefore, in order for the photomultiplier to acquire stable depth information, a high-power laser light source is required, so that heat is inevitably generated.

As described above, due to the characteristics of the laser light source, when a heat generation occurs, a wavelength transition of the light source occurs. In the light receiving system, an optical filter that passes only light of a specific wavelength is used in order to separate disturbance light and structured light existing in the surrounding , The light efficiency can be lowered more rapidly.

In order to prevent such deterioration in light efficiency, a laser light source and a cooling device for cooling light around the laser light source have been used. However, due to the addition of a cooling device, there are restrictions on downsizing and cost reduction. There is a problem in that it has a cost limit.

An object of the present invention is to provide a structured light generating apparatus and a method for constructing a light emitting unit with a vertical resonant surface light laser light source to reduce the overall size of the apparatus and improve the light efficiency and stability of the structured light do.

According to another aspect of the present invention, there is provided a method for generating a structured light, which is capable of increasing the structural optical recognition rate in a photodetector by significantly reducing copying distortion occurring during copying of the structured light, Apparatus, and method.

A structured light generating apparatus according to an embodiment of the present invention includes a light emitting unit having a plurality of light sources arranged in a matrix form, a pattern converting unit converting a first light pattern generated from the light emitting unit into a second light pattern, And a copying unit for copying a plurality of second light patterns of the first light pattern to generate a structured light and transmitting the generated structured light to the subject, wherein the light sources adjacent to each other have a minimum reference interval, Can be determined according to the amount of light of the adjacent light sources.

Here, the light source of the light emitting portion may be a vertical resonant surface light laser light source.

In addition, the light sources of the light emitting unit may have the same minimum reference intervals between adjacent light sources, and may have the same light quantity.

Then, the pattern converting section converts the first light pattern generated from the light emitting section into a second light pattern, wherein the second light pattern has a predetermined pattern interval in the X-axis direction or the Y-axis direction Lt; RTI ID = 0.0 > value. ≪ / RTI >

The pattern converting unit may include at least one of a first optical member for providing light having the first light pattern as parallel light and a second optical member for converting the first light pattern to the second light pattern .

A third optical member may be disposed between the first optical member and the second optical member, and the third optical member may be a diffractive optical element.

A method of generating structured light of a structured light generating apparatus according to an embodiment of the present invention includes the steps of generating light having a first light pattern from a light emitting unit, Converting the light having one light pattern into a second light pattern; replicating the light converted into the second light pattern into a plurality of light beams to generate structured light; and transmitting the generated structured light to a subject .

According to an embodiment of the present invention, by arranging the light emitting portion as a surface light source having a plurality of light source arrays by using the vertical resonant surface light laser light source, the arrangement distance between the light sources can be optimized, And the light efficiency and stability of the structured light can be improved.

The present invention modifies the first light pattern into the second light pattern by taking into consideration distortions such as pin cushion and the like which are generated in the copying of the structured light in the copying unit by using the pattern converting unit, Is greatly reduced and the structure light recognition rate in the light receiving system can be increased.

1 is a view schematically showing a structure light generating device according to the present invention;
FIGS. 2A and 2B are views showing a minimum reference interval between light sources
Fig. 3 is a view showing a different minimum reference interval between light sources
4 is a view showing a light emitting portion in which light sources are arranged
5 is a view showing a light pattern generated from a light emitting portion
6A to 6C are diagrams showing a light pattern converted from the pattern converting unit
Figs. 7A to 7D are diagrams showing the configuration of the pattern conversion unit of Fig. 1
8 is a view showing the second optical member of Fig. 7A
9 is a view showing another embodiment of the configuration of the pattern conversion unit of FIG.
10A and 10B are diagrams showing still another embodiment of the configuration of the pattern conversion unit of FIG.
Fig. 11 is a view showing a pincushion deformation according to the photoprinting
12 is a flowchart for explaining a method of generating structured light of the structured light generating apparatus according to the present invention.

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

The suffix "module" and " part "for components used in the following description are given merely for ease of description, and the" module "and" part "

BRIEF DESCRIPTION OF THE DRAWINGS The above and other features and advantages of the present invention will be more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG.

As used herein, terms used in the present invention are selected from general terms that are widely used in the present invention while taking into account the functions of the present invention, but these may vary depending on the intention or custom of a person skilled in the art or the emergence of new technologies. In addition, in certain cases, there may be a term arbitrarily selected by the applicant, in which case the meaning thereof will be described in the description of the corresponding invention. Therefore, it is intended that the terminology used herein should be interpreted based on the meaning of the term rather than on the name of the term, and on the entire contents of the specification.

1 is a schematic view of a structure light generating apparatus according to the present invention.

1, the structure light generating apparatus of the present invention may include a light emitting unit 100, a pattern converting unit 200, and a replicating unit 300. [

Here, in the light emitting unit 100, a plurality of light sources may be arranged in a matrix form.

At this time, the light source of the light emitting unit 100 may be a vertical resonant surface light laser light source.

The vertical resonant surface light laser light source is a surface light source used in the field of optical communication, and has advantages of high mass productivity, low price, high temperature stability, high modulation speed, narrow spectrum, narrow radiation angle, high conversion efficiency and low operating current Lt; / RTI >

In addition, the vertical-cavity surface-emitting laser light source is advantageous in that a large number of low-power, high-efficiency lasers can be printed on a semiconductor wafer in the form of a surface light source to be mass-produced.

Therefore, when the vertical cavity surface-emitting laser light source is applied to the structure light generating device, it is possible to utilize the light source or the light source and the pattern generation at the same time, so that the price, size, light efficiency, It is more effective than the structured light generating device used.

As described above, the vertical resonant surface light laser source is superior in light efficiency to the conventional high output laser, so that the structural light shape can be optimized and the recognition rate for the three-dimensional depth information of the light receiving system is enhanced.

When such a vertically-resonating surface-emitting laser light source is applied to the light emitting portion 100 of the present invention, adjacent light sources may have a minimum reference interval.

Here, the minimum reference interval means a minimum interval for maintaining the heat generation characteristics between the vertical resonant surface light laser light sources.

Thus, the minimum reference interval can be determined according to the amount of light of the adjacent light sources.

That is, in the present invention, the light emitting portion 100 is fabricated as a surface light source having a plurality of light source arrays using a vertical resonant surface light laser light source. In order to manufacture a surface light source with a minimum area, The minimum distance to be maintained is set as the distance between the light sources, so that the size of the light emitting unit 100 can be minimized.

For example, the light sources of the light emitting unit 100 may have the same minimum reference intervals between adjacent light sources.

Here, the light sources of the light emitting unit 100 may have the same amount of light.

The reason why the light sources of the light emitting unit 100 have the same light amount when the minimum reference intervals between the light sources adjacent to each other are all the same is that the minimum reference interval between the light sources is different depending on the light amounts of the adjacent light sources , Is determined.

For example, if the distance between the light sources having a large light quantity and the distance between the light sources having a small light quantity are the same, the light sources having a large light quantity have a smaller gap than the light quantity, The wavelength transition of the light source occurs and is blocked by the optical filter, so that the light efficiency may drop sharply.

Thus, depending on the light intensity of the light sources, the light sources will have to be arranged at a minimum reference spacing.

In one example, the light sources of the light emitting portion 100 may include first light sources adjacent to each other and having a first interval, and second light sources adjacent to each other and having a second interval. In this case, The spacing may be closer than the second spacing.

Here, when the first light sources have the first light amount and the second light sources have the second light amount, the first light amount may be smaller than the second light amount.

That is, if the light amount between the light sources is large, the interval between the light sources is widened, and if the light amount between the light sources is small, the interval between the light sources can be narrowed.

In one embodiment, in the light emitting portion 100 of the present invention, the interval between the adjacent light sources is about 20-30 mu m, and the light amount of the adjacent light sources may be about 2-3 mW.

Accordingly, the light emitting portion 100 may include a substrate and a plurality of light sources arranged in a matrix form on the substrate and generating the first light pattern.

That is, the light emitting unit 100 is made of a planar light source in which a plurality of light sources are arranged, and can generate a light pattern through a light spot.

Next, the pattern converting unit 200 can convert the first light pattern generated from the light emitting unit 100 into the second light pattern.

Here, the second light pattern may be a light pattern increased by a predetermined value in the X-axis direction or the Y-axis direction with respect to the minimum pattern interval of the first light pattern.

That is, the first light pattern is a structured light spot generated by the minimum reference interval arrangement of the light sources, and the second light pattern is a pattern modulating the minimum reference interval between the structured light spots generated by the light sources.

Therefore, the pattern converting section 200 can modulate the first light pattern to the second light pattern and deform the structured light, thereby increasing the structural light recognition rate in the light receiving system.

The pattern converting unit 200 modulates the first light pattern into the second light pattern in consideration of distortions such as pin cushion and the like which are generated in the copying unit 300 in the copying unit 300, It is possible to greatly reduce the reproduction distortion in the recording medium.

The pattern conversion unit 200 converts at least one of a first optical member for providing light having the first light pattern as parallel light and a second optical member for converting the first light pattern to the second light pattern .

In one example, the first optical member may be a collimating lens, but is not limited thereto.

The second optical member may be at least one of a beam shaping prism, a beam shaping lens, a reflecting mirror, a reflecting prism, and a combination member thereof, but is not limited thereto.

Here, the first optical member may be disposed adjacent to the light emitting portion 100, and the second optical member may be disposed adjacent to the replica portion 300.

At this time, the first optical member and the second optical member may be integrally formed by being in contact with each other.

Optionally, the first optical member and the second optical member may be spaced apart at regular intervals.

As another example, a third optical member may be disposed between the first optical member and the second optical member. In one example, the third optical member may be a diffractive optical element.

Then, the copying unit 300 can copy the converted second light patterns in a plurality of ways, generate the structured light, and transmit the generated structured light to the subject.

Here, the duplication unit 300 may be a diffractive optical element.

As described above, the present invention can optimize the arrangement distance between the light sources by making the light emitting portion 100 a surface light source having a plurality of light source arrays by using the vertically-resonating surface light laser light source, 100 can be minimized.

The present invention modulates the first light pattern into the second light pattern by considering the distortions such as pin cushion and the like that are generated in the copying unit 300 by the copying unit 300 using the pattern converting unit 200 , The duplication distortion in the duplication unit 300 can be greatly reduced and the structural light recognition rate in the reception system can be increased.

2A and 2B are diagrams showing a minimum reference interval between light sources.

As shown in FIGS. 2A and 2B, the light emitting unit may have a plurality of light sources arranged in a matrix form.

Here, the light source of the light emitting portion may be a vertical resonant surface light laser light source.

At this time, the adjacent light sources may have a minimum reference distance d.

Here, the minimum reference distance d means a minimum interval for maintaining the heat generation characteristics between the light sources.

Therefore, the minimum reference distance d can be determined according to the amount of light of the adjacent light sources.

That is, in the present invention, the light emitting portion is fabricated as a surface light source having a plurality of light source arrays by using the vertical resonant surface light laser light source. In order to manufacture the surface light source with a minimum area, As the arrangement distance between the light sources, the size of the light emitting portion can be minimized.

2A, when the first, second, and third light sources 110a, 110b, and 110c that are adjacent to each other are arranged in a triangular shape, a minimum reference between the first and second light sources 110a and 110b The minimum reference distance d between the second and third light sources 110b and 110c and the minimum reference distance d between the first and third light sources 110a and 110c may all be the same.

Here, the first, second, and third light sources 110a, 110b, and 110c may have the same amount of light.

In one embodiment, the minimum reference distance d between the first and second light sources 110a and 110b, the minimum reference distance d between the second and third light sources 110b and 110c, and the first and third light sources 110a and 110b And 110c may be about 20-30 um and the amount of light of the first, second, and third light sources 110a, 110b, and 110c may be about 2-3 mW.

The first, second, and third light sources 110a, 110b, and 110c may be disposed on the same side of the first, second, and third light sources 110a, 110b, and 110c, The reason why the first light sources 110a, 110b, and 110c have the same light amount is that the minimum reference interval between the first, second, and third light sources 110a, 110b, And 110c, respectively.

For example, if the distance between the light sources having a large light quantity and the distance between the light sources having a small light quantity are the same, the light sources having a large light quantity have a smaller gap than the light quantity, The wavelength transition of the light source occurs and is blocked by the optical filter, so that the light efficiency may drop sharply.

Thus, depending on the light intensity of the light sources, the light sources will have to be arranged at a minimum reference spacing.

As another example, when the first, second, third, and fourth light sources 110a, 110b, 110c, and 110d that are adjacent to each other are arranged in a rectangular shape, the first and second light sources 110a and 110b A minimum reference distance d between the second and third light sources 110b and 110c, a minimum reference distance d between the third and fourth light sources 110c and 110d, and a minimum reference distance d between the third and fourth light sources 110c and 110d. The minimum reference distance d between the light sources 110a and 110d may be all the same.

Here, the first, second, third, and fourth light sources 110a, 110b, 110c, and 110d may have the same amount of light.

The minimum reference distance d between the first and second light sources 110a and 110b, the minimum reference distance d between the second and third light sources 110b and 110c, the third and fourth light sources 110c and 110d, The minimum reference distance d between the first and fourth light sources 110a and 110d and the minimum reference distance d between the first and fourth light sources 110a and 110d may be about 20-30 um and the first, 110a, 110b, 110c, and 110d may be about 2-3 mW.

FIG. 3 is a view showing a different minimum reference interval between light sources. FIG.

As shown in FIG. 3, the light emitting unit may have a plurality of light sources arranged in a matrix form.

Here, the light source of the light emitting portion may be a vertical resonant surface light laser light source.

At this time, the adjacent light sources may have a minimum reference distance d.

Here, the minimum reference distance d means a minimum interval for maintaining the heat generation characteristics between the light sources.

Therefore, the minimum reference distance d can be determined according to the amount of light of the adjacent light sources.

For example, when the first, second, third, and fourth light sources 110a, 110b, 110c, and 110d that are adjacent to each other are arranged in a rectangular shape, the first and second light sources 110a and 110b And the minimum reference distance d1 between the third and fourth light sources 110c and 110d are equal to each other and the minimum reference distance d2 between the second and third light sources 110b and 110c is equal to the minimum reference distance d2 between the second and third light sources 110b and 110c, The minimum reference distance d2 between the first and fourth light sources 110a and 110d may be equal to each other.

The minimum reference distance d1 between the first and second light sources 110a and 110b and the minimum reference distance d1 between the third and fourth light sources 110c and 110d are determined by the second and third light sources 110b and 110c , Or the minimum reference distance d2 between the first and fourth light sources 110a and 110d.

Here, the amount of light of the first and second light sources 110a and 110b may be smaller than the amount of light of the third and fourth light sources 110c and 110d.

That is, if the light amount between the light sources is large, the interval between the light sources is widened, and if the light amount between the light sources is small, the interval between the light sources can be narrowed.

4 is a view illustrating a light emitting unit in which light sources are disposed.

4, the light emitting portion may include a substrate 120 and a plurality of light sources 110 arranged in a matrix on the substrate 120 and generating a first light pattern.

That is, the light emitting unit is fabricated as a surface light source in which a plurality of light sources 110 are arranged, and a light pattern can be generated through a light spot.

Here, the adjacent light sources 110 have a minimum reference distance d, and the minimum reference distance d can be determined according to the amount of light of the adjacent light sources 110.

The light source 110 may be a vertical resonant surface light laser light source.

At this time, the light source 110 can be mass-produced by printing a plurality of low-power, high-efficiency lasers on a semiconductor wafer in the form of a surface light source.

Therefore, since the light source 110 is superior to the conventional high power laser, the structure light shape can be optimized, and the recognition rate for the three-dimensional depth information of the light receiving system can be increased.

That is, the light emitting unit is formed of a planar light source having a plurality of light source arrays. In order to manufacture the planar light source with a minimum area, a minimum distance for maintaining the heat generating characteristics between the light sources 110 is set to a minimum standard The size of the light emitting portion can be minimized.

5 is a view showing a light pattern generated from a light emitting portion.

As shown in FIG. 5, the light emitting unit can generate various first light patterns 130. FIG.

Here, in the first light pattern 130, adjacent light spots may have a minimum reference distance d.

In this case, the minimum reference distance d means a minimum interval for maintaining heat generation characteristics between the light sources.

The first light pattern 130 can be designed using various characteristics such as shape, distribution, and brightness of a light spot.

Here, since the minimum independent structure light is structured light existing in a section having no identical structural light shape other than itself, it is related to the minimum area of the object capable of detecting structured light in the light receiving system, .

Further, the first light pattern 130 can be designed in consideration of the degree of distortion of the structured light appearing at the time of detecting the structured light in the light receiving system.

The present invention can be designed in two stages when designing a structural light shape.

The first step is a normal distribution structure optical design using the minimum reference spacing d between light sources. This is called normalized pattern design.

The second step is an irregular pattern design for increasing the recognition rate of the normal distribution structure light generated by the light source, as the structure light that is deformed while the generated regular distribution structure light shape passes through the pattern conversion unit.

Here, the first stage of the normalization pattern design stage is a three-dimensional depth information measurement system in which various necessary characteristics such as shape, distribution, and brightness of a necessary shape-independent section are determined according to the parallax distance, which is the distance between the illumination system and the light- Can be designed.

In this case, the shape-independent section is a section in which the structural light shape does not have the same shape except for itself in the corresponding section.

Therefore, the size of the minimum independent structure light can be designed to the minimum size.

The normalized pattern design stage can be designed so as to be distinguished from the error in the characteristic of the structural light measurement system or in the structural light deformation due to the disturbance or to include the specific condition of the structural light shape so that error correction is possible.

In addition, the design result of the shape-independent section of the normal distribution structure light can be combined with the shape-independent section in consideration of the amount of light according to the necessity of the utilization area.

The result of the multiplexed structured light can then be matched with the arrangement of the respective laser light sources of the multiple vertical resonant surface light lasers.

6A to 6C are diagrams showing the light patterns converted from the pattern converting unit.

6A to 6C, the pattern conversion unit may convert the first light pattern 130 generated from the light emitting unit into the second light pattern 140. [

Here, the second light pattern 140 may be a light pattern increased by a predetermined value in the X-axis direction or the Y-axis direction with respect to the minimum pattern interval of the first light pattern 130. [

The pattern converting unit may deform the first light pattern 130 in various ways, thereby forming a second light pattern 130 having various shapes.

For example, the pattern converting unit may transform the first light pattern 130 to the second light pattern 140 by an origin rotation method, as shown in FIG. 6A.

As another example, the pattern converting unit may deform the first light pattern 130 in an enlargement manner to form the second light pattern 140, as shown in FIG. 6B.

As another example, the pattern converting unit may deform the first light pattern 130 in a barrel-deforming manner to mitigate the pin cushion phenomenon, as shown in Fig. 6C, to form the second light pattern 140. [

The present invention can be designed in two stages when designing a structural light shape.

The first step is a normal distribution structure optical design using the minimum reference spacing d between light sources. This is called normalized pattern design.

The second step is an irregular pattern design for increasing the recognition rate of the normal distribution structure light generated by the light source, as the structure light that is deformed while the generated regular distribution structure light shape passes through the pattern conversion unit.

Here, the second stage of denormalization pattern designing stage is designed to minimize the similarity between shapes, such as cross-correlation values, in the shape-independent section based on the results generated in the normalization pattern design stage , Shape, distribution, brightness, and the like.

The unstructured pattern design stage may be applied with various strain rates (size, rotation, distortion, etc.) to each of the irradiation optical systems such as the projection lens and the diffractive optical element.

In addition, since the structured light replicating optical system such as the diffractive optical element used for replicating the structure independent section by the viewing angle of the structured light by the viewing angle of the light receiving system distributes structured light radially, pincushion deformation generally occurs at the outer periphery.

Therefore, the unconformed pattern design stage such as the pattern conversion section can cause irregular strain on the structured light in consideration of the barrel deformation to some extent in order to correct such pincushion deformation.

7A to 7D are diagrams showing the configuration of the pattern conversion unit of FIG.

As shown in FIGS. 7A to 7D, the pattern conversion unit 200 can be designed with various optical systems.

The pattern conversion unit 200 converts the first light pattern 130 generated from the light emitting unit into the second light pattern 140. The pattern conversion unit 200 converts the light having the first light pattern And a second optical member for converting the first optical pattern into a second optical pattern.

The pattern converting unit 200 may include a first optical member 210 and a second optical member 220 between the light emitting unit 100 and the duplicating unit 300 as shown in FIG.

Here, the first optical member 210 may be disposed adjacent to the light emitting portion 100, and the second optical member 220 may be disposed adjacent to the replica portion 300.

At this time, the first optical member 210 can provide light having the first light pattern 130 incident from the light emitting unit 100 as parallel light.

In one example, the first optical member 210 may be a collimating lens.

The second optical member 220 may be an optical member for converting the first light pattern 130 into the second light pattern 140. [

In one example, the second optical member 220 may be at least one of a beam shaping prism, a beam shaping lens, a reflecting mirror, a reflecting prism, and a combination member thereof.

Here, the beam shaping prism and the beam shaping lens are devices for imparting a deformation that stretches or reduces incident light in a specific direction.

The beam shaping lens may have the same function as the beam shaping prism. The beam shaping lens may be formed by using an anamorphic lens having different radii of curvature in the horizontal and vertical directions instead of the prism, to be.

When such a beam shaping lens is used, it is not necessary to use a separate beam shaping prism in unison with the collimating lens, which is advantageous in reducing the parts.

As described above, according to the present invention, by using a beam shaping prism or a beam shaping lens and arranging them at appropriate angles with respect to the input light, the normal pattern can be deformed in a desired direction.

If a beam shaping element is used, there is no need to add another diffraction element, which is advantageous for identifying a light pattern because the contrast of the light source can be maintained and the light pattern can be changed.

7B, the pattern converting unit 200 may include a first optical member 210 and a second optical member 210 including a plurality of optical elements, between the light emitting unit 100 and the duplicating unit 300. [ (Not shown).

Here, the first optical member 210 may be disposed adjacent to the light emitting portion 100, and the second optical member 220 may be disposed adjacent to the replica portion 300.

At this time, the second optical member 220 may include a first optical element 220a and a second optical element 220b.

The first optical member 210 may be a collimator lens capable of providing light having the first light pattern 130 incident from the light emitting portion 100 as parallel light.

The second optical member 220 may include a plurality of optical elements for converting the first optical pattern 130 into the second optical pattern 140. For example, A first optical element 220a and a second optical element 220b.

Here, the first optical element 220a and the second optical element 220b are any one of a beam shaping prism, a beam shaping lens, a reflection mirror, and a reflection prism, and may be different elements.

For example, the first optical element 220a may be a beam shaping lens, the second optical element 220b may be a reflective mirror or a reflective prism, the first optical element 220a may be a reflective mirror or a reflective prism, 2 optical element 220b may be a beam shaping prism.

As another example, as shown in FIG. 7C, the pattern conversion unit 200 may be disposed in front of the light emitting unit 100, and may perform the role of the duplication unit 300, instead of the duplication unit 300 being omitted.

Here, the pattern conversion unit 200 includes a first optical member 210 and a second optical member 220, wherein the first optical member 210 may be a collimating lens, and the second optical member 220 May be at least one of a beam shaping prism, a beam shaping lens, a reflecting mirror, a reflecting prism, and a combination member thereof.

As another example, the pattern converting unit 200 may be disposed between the light emitting unit 100 and the replica unit 300, as shown in FIG. 7D.

Here, in the pattern converting unit 200, the first optical member 210, which is a collimating lens, is omitted, and only the second optical member 220 can be disposed.

At this time, the second optical member 220 may be at least one of a beam shaping prism, a beam shaping lens, a reflecting mirror, a reflecting prism, and a combination member thereof.

FIG. 8 is a view showing the second optical member of FIG. 7A. FIG.

The second optical member 220 may be at least one of a beam shaping prism, a beam shaping lens, a reflecting mirror, a reflecting prism, and a combination member thereof. As shown in FIG. 8, Is a device that gives a deformation that stretches or reduces the original symmetrical shape in a specific direction.

Here, on the optical structure, the beam shaping prism can deform the outgoing light by increasing incident light in a specific direction.

Therefore, by arranging the beam shaping prism at an appropriate angle with respect to the incident light having the first light pattern, the normal pattern can be deformed in a desired direction.

FIG. 9 is a view showing another embodiment of the configuration of the pattern conversion unit of FIG. 1. FIG.

9, the pattern converting unit 200 may include a first optical member 210 and a second optical member 220 between the light emitting unit 100 and the duplicating unit 300 .

A third optical member 230 may be disposed between the first optical member 210 and the second optical member 220.

Here, the first optical member 210 may be disposed adjacent to the light emitting portion 100, and the second optical member 220 may be disposed adjacent to the replica portion 300.

At this time, the first optical member 210 can provide light having the first light pattern 130 incident from the light emitting unit 100 as parallel light.

In one example, the first optical member 210 may be a collimating lens.

The second optical member 220 may be an optical member for converting the first light pattern 130 into the second light pattern 140. [

In one example, the second optical member 220 may be at least one of a beam shaping prism, a beam shaping lens, a reflecting mirror, a reflecting prism, and a combination member thereof.

Further, the third optical member 230 can duplicate the first optical patterns 130 in a plurality of numbers.

In one example, the third optical member 230 may be a diffractive optical element.

That is, the third optical member 230 can form a desired pattern by slightly twisting the normalization pattern of the light source.

Further, the third optical member 230 can alleviate the duplication distortion generated by the duplication unit 300 by generating a diffraction pattern on one surface and using optical power on the other surface.

Therefore, in the copying unit 300, the third optical member 230 replicates the first optical pattern in consideration of distortions such as pin cushions and the like that are generated in the copying of the structured light, and twists the first optical pattern , It is possible to greatly reduce duplication distortion in the duplication unit 300.

10A and 10B are views showing another embodiment of the configuration of the pattern conversion unit of FIG.

10A and 10B, the pattern converting unit 200 includes a first optical member 210 and a second optical member 220 between the light emitting unit 100 and the duplicating unit 300 can do.

Here, the first optical member 210 may be disposed adjacent to the light emitting portion 100, and the second optical member 220 may be disposed adjacent to the replica portion 300.

At this time, the first optical member 210 can provide light having the first light pattern 130 incident from the light emitting unit 100 as parallel light.

In one example, the first optical member 210 may be a collimating lens.

The second optical member 220 may be an optical member for converting the first light pattern 130 into the second light pattern 140. [

In one example, the second optical member 220 may be at least one of a beam shaping prism, a beam shaping lens, a reflecting mirror, a reflecting prism, and a combination member thereof.

As shown in FIG. 10A, the first optical member 210 and the second optical member 220 may be formed integrally by being in contact with each other.

In some cases, as shown in FIG. 10B, the first optical member 210 and the second optical member 220 may be disposed apart from each other by a predetermined distance d11.

Here, the interval between the first optical member 210 and the second optical member 220 may be an element for reducing the optical system size of the structured light generating device, and may be an important factor for deforming the first light pattern into the second light pattern It can be an element.

Therefore, the present invention can be applied to the case where the distance between the first optical member 210 and the second optical member 220 is adjusted or the distance between the first optical member 210 and the second optical member 220 may be fabricated.

Fig. 11 is a view showing a pincushion deformation according to the photoprinting. Fig.

As shown in Fig. 11, the copying unit replicates the converted second light pattern in a plurality of patterns, and generates the structured light, which may cause pin cushion distortion in the structured light.

That is, the copying unit can generate distortions such as pin cushion and the like when copying structured light.

Therefore, the present invention modulates the first light pattern to the second light pattern in consideration of these distortions, thereby greatly reducing the copying distortion in the copying section, thereby increasing the structural light recognition rate in the light receiving system.

FIG. 12 is a flowchart for explaining a structured light generating method of the structured light generating apparatus according to the present invention.

12, first, the light emitting unit generates light having the first light pattern (S10)

Then, the pattern converting unit converts the light generated from the light emitting unit into parallel light. (S20)

Then, the pattern converting section converts the light having the first light pattern into the second light pattern (S30)

Here, when the light having the first light pattern is converted into the second light pattern, the second light pattern is converted so as to increase by a predetermined value in the X-axis direction or the Y-axis direction with respect to the minimum pattern interval of the first light pattern .

Next, the copying unit replicates the light converted into the second light pattern into a plurality of light beams to generate structured light (S40), and transmit the generated structured light to the subject. (S50)

As described above, according to the present invention, by using the vertically-resonating surface-emitting laser light source and fabricating the light emitting portion as a surface light source having a plurality of light source arrays, the arrangement distance between the light sources can be optimized, The light efficiency and stability of the structured light can be improved.

The present invention modifies the first light pattern into the second light pattern by taking into consideration distortions such as pin cushion and the like which are generated in the copying of the structured light in the copying unit by using the pattern converting unit, Can be greatly reduced and the structural light recognition rate in the light receiving system can be increased.

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

100: light emitting portion 130: first light pattern
140: second optical pattern 200: pattern conversion unit
210: first optical member 220: second optical member
230: Third optical member 300:

Claims (18)

A light emitting unit in which a plurality of light sources are arranged in a matrix form;
A pattern conversion unit for converting a first light pattern generated from the light emitting unit into a second light pattern; And,
And a copying unit for copying the converted second light patterns into a plurality of copies to generate structured light and transmitting the generated structured light to a subject,
In the light emitting portion, the adjacent light sources have a minimum reference interval,
Wherein the minimum reference interval is determined according to the amount of light of the adjacent light sources. The structured light generating apparatus according to claim 1, wherein the light source of the light emitting unit is a vertical resonant surface light laser light source. The structured light generating apparatus according to claim 1, wherein the light sources of the light emitting unit have the same minimum reference intervals between adjacent light sources. The structured light generating apparatus according to claim 3, wherein the light sources of the light emitting unit have the same amount of light. The light emitting device according to claim 1,
First light sources adjacent to each other and having a first interval,
And second light sources adjacent to each other and having a second gap,
Wherein the first spacing is closer to the second spacing than the second spacing. 6. The apparatus of claim 5, wherein the first light sources have a first light amount,
The second light sources having a second light amount,
Wherein the first light amount is smaller than the second light amount. The method of claim 1, wherein the spacing between adjacent light sources is 20-30 um,
Wherein a light amount of the adjacent light sources is 2 - 3 mW. The light emitting device according to claim 1,
A substrate;
And a plurality of light sources arranged in a matrix form on the substrate and generating the first light pattern. The apparatus according to claim 1,
Converting the first light pattern generated from the light emitting portion into a second light pattern,
The second light pattern may be a light-
Wherein the optical pattern is a light pattern increased by a predetermined value in the X-axis direction or the Y-axis direction with respect to a minimum pattern interval of the first light pattern. The apparatus according to claim 1,
And a second optical member for converting the first optical pattern into the second optical pattern, wherein the first optical member includes a first optical member that provides light having the first optical pattern as parallel light, and a second optical member that converts the first optical pattern into the second optical pattern. Optical device. 11. The image pickup apparatus according to claim 10, wherein the first optical member is a collimating lens,
Wherein the second optical member is at least one of a beam shaping prism, a beam shaping lens, a reflecting mirror, a reflecting prism, and a combination member thereof. 11. The light emitting device according to claim 10, wherein the first optical member is disposed adjacent to the light emitting portion,
And the second optical member is disposed adjacent to the replica portion. 11. The structured light generation apparatus according to claim 10, wherein the first optical member and the second optical member are formed integrally in contact with each other. The structured light generation apparatus according to claim 10, wherein the first optical member and the second optical member are spaced apart at regular intervals. 11. The image display apparatus according to claim 10, wherein a third optical member is disposed between the first optical member and the second optical member,
And the third optical member is a diffractive optical element. The structured light generating apparatus according to claim 1, wherein the replicating section is a diffractive optical element. A structure light generating method of a structured light generating device including a light emitting portion in which a plurality of light sources are arranged at minimum reference intervals,
Generating light having a first light pattern from the light emitting portion;
Converting the light generated from the light emitting unit into parallel light;
Converting the light having the first light pattern into a second light pattern;
Replicating the light converted into the second light pattern into a plurality of light beams to generate structured light; And,
And transmitting the generated structured light to a subject. 18. The method of claim 17, wherein in the step of converting light having the first light pattern into a second light pattern,
The second light pattern may be a light-
Axis direction or the Y-axis direction with respect to a minimum pattern interval of the first light pattern by a predetermined value.

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