KR20190078008A - 3d scanning apparatus and 3d scanning method - Google Patents

Abstract

Disclosed is a three-dimensional scanning device. The three-dimensional scanning device comprises: a stage part; a support part disposed on an upper side of the stage part and on which an object to be measured is placed; a light source part for irradiating light; a light reflecting part installed in the stage part and changing a path of the light irradiated from the light source part to irradiate light to the object to be measured; a light receiving part for detecting the reflected light reflected from the object to be measured; and a control part which controls the light reflecting part such that the light reflecting part can linearly move on the stage part, and generates a three-dimensional shape of the object to be measured by using the reflected light detected by the light receiving part. Therefore, the present invention is capable of generating the three-dimensional shape for a lower part of an object using a straight stage and a mirror.

Description

TECHNICAL FIELD [0001] The present invention relates to a three-dimensional scanning device and a three-

The present invention relates to a three-dimensional scanning device and a three-dimensional scanning method, and more particularly, to a three-dimensional scanning device and a three-dimensional scanning method capable of generating a three-dimensional shape of a lower portion of an object.

A three-dimensional scanning device is a device for acquiring three-dimensional shape information of an object, and many commercial products have recently been released. The three-dimensional scanning device projects a specific pattern light onto the surface of an object through a laser, a projector, etc., acquires a projected pattern with a camera, calculates a three-dimensional position value of the object, Generates a three-dimensional image of an object.

Since the conventional three-dimensional scanning apparatus uses a method of scanning a side surface of an object at a position spaced a certain distance from an object, it is difficult to obtain information about the bottom of the object. In order to acquire three- There was an inconvenience that the object had to be moved directly. Further, since the camera and the object for photographing the object must be separated from each other by a certain distance, there has been a problem that the size of the three-dimensional scanning device becomes large.

An object of the present invention is to provide a three-dimensional scanning device and a three-dimensional scanning method capable of generating a three-dimensional shape of a lower portion of an object using a linear stage and a mirror.

According to an aspect of the present invention, there is provided a three-dimensional scanning apparatus including a stage, a support disposed on an upper side of the stage for supporting a measurement object, a light source for irradiating light, A light receiving part for receiving reflected light reflected from the measurement object and a light receiving part for receiving the light reflected from the measurement object and changing the path of the light so that the light reflecting part is moved linearly on the stage part And a control unit for controlling driving of the light reflection unit and generating a three-dimensional shape of the measurement object using the reflected light sensed by the light receiving unit.

Here, the control unit calculates an exploded view of the axis parallel to the moving direction of the light reflection part based on the moving speed of the light reflection part, and calculates a coordinate value in the axial direction parallel to the moving direction of the light reflection part based on the exploded view Can be obtained.

Here, the controller may acquire a three-dimensional coordinate value of the measurement object using the distance from the light source unit to the measurement object and the exploded view.

Here, the controller may correct the obtained three-dimensional coordinate value in consideration of the refractive index of the previously stored supporter.

Here, the supporting part may be made of acrylic material.

The control unit may set a scanning area for scanning the measurement object based on the movement distance of the light reflection part and the length of the light reflection part.

The light reflection part may be installed at a predetermined angle with respect to an incident surface of the light emitted from the light source part so that the light emitted from the light source part is vertically irradiated to the support part.

According to another aspect of the present invention, there is provided a three-dimensional scanning method for a three-dimensional scanning apparatus, comprising the steps of: irradiating light toward a mirror provided on a stage of the three-dimensional scanning apparatus; The method comprising: changing a path of the light so that the light is irradiated on the object; sensing reflected light reflected from the measurement object; controlling the driving of the mirror so that the mirror linearly moves on the stage; And generating a three-dimensional shape of the measurement object.

Here, the step of generating the three-dimensional shape of the measurement object may include a step of calculating an exploded view of the axis parallel to the moving direction of the mirror based on the moving speed of the mirror, And obtaining a coordinate value in one axial direction.

The step of generating the three-dimensional shape of the measurement object may further include acquiring the three-dimensional coordinate value of the measurement object using the distance from the three-dimensional scanning device to the measurement object and the exploded view have.

Here, the step of generating the three-dimensional shape of the measurement object may correct the obtained three-dimensional coordinate value in consideration of refraction of the reflected light.

The method may further include setting a scanning area for scanning the measurement object based on the movement distance of the mirror and the length of the mirror.

The step of changing the path of the light may include the step of tilting the mirror with respect to the incident surface of the light by a predetermined angle so that the light irradiated to the mirror is irradiated perpendicularly to the support on which the object to be measured is placed.

Meanwhile, a program for performing the three-dimensional scanning method according to an embodiment of the present invention may be recorded on a computer-readable recording medium.

As described above, according to various embodiments of the present invention, it is possible to easily generate the three-dimensional shape of the lower part of the measurement object and acquire accurate three-dimensional coordinate values of the lower part of the measurement object.

In addition, according to various embodiments of the present invention, it is possible to scan a measurement object positioned close to the three-dimensional scanning device using a mirror, thereby reducing the size of the three-dimensional scanning device.

1 is a view showing a schematic configuration of a three-dimensional scanning apparatus according to an embodiment of the present invention.
2 and 3 are views for explaining the operation of the three-dimensional scanning apparatus according to an embodiment of the present invention.
4 is a view for explaining a scanning method of a three-dimensional scanning apparatus according to an embodiment of the present invention.
5 is a flowchart illustrating a three-dimensional scanning method according to an embodiment of the present invention.

Other advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims.

Unless defined otherwise, all terms (including technical or scientific terms) used herein have the same meaning as commonly accepted by the generic art in the prior art to which this invention belongs. Terms defined by generic dictionaries may be interpreted to have the same meaning as in the related art and / or in the text of this application, and may be conceptualized or overly formalized, even if not expressly defined herein I will not.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. As used herein, the terms' comprise 'and / or various forms of use of the verb include, for example,' including, '' including, '' including, '' including, Steps, operations, and / or elements do not preclude the presence or addition of one or more other compositions, components, components, steps, operations, and / or components. The term 'and / or' as used herein refers to each of the listed configurations or various combinations thereof.

It should be noted that the terms such as '~', '~ period', '~ block', 'module', etc. used in the entire specification may mean a unit for processing at least one function or operation. For example, a hardware component, such as a software, FPGA, or ASIC. However, '~ part', '~ period', '~ block', '~ module' are not meant to be limited to software or hardware. Modules may be configured to be addressable storage media and may be configured to play one or more processors. ≪ RTI ID = 0.0 >

Thus, by way of example, the terms 'to', 'to', 'to block', 'to module' refer to components such as software components, object oriented software components, class components and task components Microcode, circuitry, data, databases, data structures, tables, arrays, and the like, as well as components, Variables. The functions provided in the components and in the sections ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ' , '~', '~', '~', '~', And '~' modules with additional components.

The three-dimensional scanning device obtains three-dimensional coordinate values for each point of the measurement object, and generates a three-dimensional image based on the three-dimensional coordinate values. Specifically, the three-dimensional scanning device irradiates light to all areas of the measurement object and senses light reflected therefrom to acquire three-dimensional coordinate values for all areas of the measurement object. The three-dimensional coordinate values Dimensional shape of the object to be measured. In the conventional three-dimensional scanning device, a certain distance is required between the three-dimensional scanning device and the object to be measured, thereby increasing the size of the three-dimensional scanning device. However, the three-dimensional scanning device according to an embodiment of the present invention can remove a separation distance between the three-dimensional scanning device and the measurement target by using a linear stage and a mirror, thereby realizing a compact three-dimensional scanning device. In addition, the three-dimensional scanning apparatus according to the present invention can generate a three-dimensional image of the lower part of the measurement object without moving the measurement object.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings attached hereto.

1 is a view showing a schematic configuration of a three-dimensional scanning apparatus according to an embodiment of the present invention.

Referring to FIG. 1, a three-dimensional scanning device 100 includes a stage 110, a support 120, a sensor 130, and a light reflector 140.

The stage unit 110 is provided below the three-dimensional scanning device 100 so that the light reflection unit 140 can move. The supporting part 120 is provided on the upper side of the stage part 110, and a measurement object is placed. The supporting part 120 may be made of a transparent acrylic material, but it is not limited thereto and may be made of various materials capable of being projected.

The sensor unit 130 may include a light source unit 131, a light receiving unit 132, and a control unit 133. That is, in the three-dimensional scanning device 100 according to an embodiment of the present invention, the light source unit 131, the light receiving unit 132, and the control unit 133 may be implemented as one sensor unit 130. In this case, the light source unit 131 and the light receiving unit 132 may be connected to the control unit 133 in a wired or wireless manner. The light source unit 131, the light receiving unit 132, and the control unit 133 may be implemented as separate devices. So that data can be transmitted and received.

The light source unit 131 may be disposed on one side of the stage unit 110 to emit light toward the light reflection unit 140. The light irradiated from the light source unit 131 is irradiated to the measurement object through the light reflection unit 140. The reflected light reflected from the measurement object is received by the light receiving unit 132 to determine the distance to the measurement object.

The light reflection part 140 is disposed on the stage part 110 at a predetermined angle and changes the path of the light emitted from the light source part 131 so that light is irradiated to the measurement object. For example, the light reflection part 140 may be inclined at an angle of 45 degrees and horizontally installed on the stage part 110 with the light source part 131 so that the path of the light emitted from the light source part 131 is perpendicular to the support part 120 Direction. In addition, the light reflection part 140 may be realized as a mirror, but it is not limited thereto, and may be realized by various devices capable of reflecting light.

The light receiving unit 132 senses the reflected light reflected from the measurement target by the light emitted from the light source unit 131. [ Specifically, the light irradiated from the light source unit 131 is changed in path by the light reflector 140 and irradiated to the measurement object. The reflected light reflected from the measurement object is again changed in path by the light reflector 140, 132, respectively.

The control unit 133 may control the driving of the light reflection unit 140 so that the light reflection unit 140 linearly moves on the stage unit 110. [ Specifically, the control unit 133 controls the light reflection unit 140 to move from the minimum distance to the maximum distance at a constant speed, and performs scanning every time the light reflection unit 140 moves according to a predetermined resolution . In this case, the control unit 133 controls the driving of the motor provided in the stage unit 110 so as to control the light reflection unit 140 to move linearly on the stage unit 110.

Further, the control unit 133 can generate the three-dimensional shape of the measurement object using the reflected light detected by the light receiving unit 132. The controller 133 calculates the resolution of the axis parallel to the moving direction of the light reflector 140 based on the moving speed of the light reflector 140 and calculates the resolution of the light reflector 140 based on the calculated resolution. The coordinate value in the axial direction that is parallel to the moving direction of the wafer W can be obtained. Then, the control unit 133 can obtain the three-dimensional coordinate value of the measurement object using the distance from the light source unit 131 to the measurement object and the calculated resolution. A specific process by which the control unit 133 obtains the three-dimensional coordinate value will be described later with reference to FIG.

After the three-dimensional coordinate value of the measurement object is obtained, the control unit 133 may correct the three-dimensional coordinate value obtained by considering the refractive index of the support unit 120. [ For example, when the supporting part 120 is provided as an acrylic plate, when the light emitted from the light source part 131 is reflected by the light reflecting part 140 and passes through the supporting part 120, The control unit 133 can correct the three-dimensional coordinate value obtained by considering the refractive index of the previously stored acrylic plate. Accordingly, the three-dimensional shape of the measurement object can be accurately generated regardless of the material of the supporting part 120. [

The control unit 133 can set a scanning area for scanning the measurement object based on the movement distance of the light reflection unit 140 and the length of the light reflection unit 140. [ Here, the length of the light reflection part 140 may mean a length in a direction perpendicular to the movement direction of the light reflection part 140. For example, the control unit 133 can set a scanning area whose horizontal length is equal to the length of the light reflection part 140 and whose vertical length is equal to the moving distance of the light reflection part 140. In this case, The three-dimensional coordinate value of the measurement object can be acquired more quickly.

2 and 3 are views for explaining the operation of the three-dimensional scanning apparatus according to an embodiment of the present invention.

2, a three-dimensional scanning device 100 according to an exemplary embodiment of the present invention includes a sensor unit 130 and a stage unit 110 arranged in parallel, a light reflection unit 140 inclined at 45 degrees And may be installed in the stage unit 110. The light irradiated from the sensor unit 130 is vertically changed in the direction of the light reflected by the light reflecting unit 140 so that the light reflected by the lower part of the measurement object supported by the support unit 120 at the upper part of the light reflecting unit 140 And the reflected light reflected from the lower part of the measurement object is vertically changed in direction by the light reflection part 140 and can be received by the sensor part 130. [ 3, the support 120 is disposed on the stage 110 in parallel with the sensing plane. When the measurement object is placed on the support 120, light emitted from the sensor 130 is measured The reflected light from the lower part of the object can be received again by the sensor part 130, so that the three-dimensional coordinates of the lower part of the measurement object can be easily obtained. Since the lower part of the measurement object placed on the support part 120 can be scanned using the light reflection part 140, the 3D scanning device and the measurement object do not need to be separated from each other by a certain distance. The size can be reduced. Accordingly, it is possible to provide a three-dimensional scanning device 100 capable of performing three-dimensional scanning of a measurement object located in a narrow space.

4 is a view for explaining a scanning method of a three-dimensional scanning apparatus according to an embodiment of the present invention.

4, the light reflection part 140 provided on the stage part 110 in the three-dimensional scanning device 100 moves linearly along the center axis of the stage part 110. [ Here, the center axis of the stage unit 110 is referred to as a y-axis, and the axis perpendicular to the central axis of the stage unit 110 is assumed as an x-axis and the axis perpendicular to the xy plane as a z-axis. The three-dimensional scanning device 100 can set a scanning area in consideration of the moving distance of the light reflecting part 140 and the length of the light reflecting part 140. The resolution of the x- ≪ / RTI > Here, the sensor unit 130 may be implemented as a Lidar sensor, but is not limited thereto.

The y-axis resolution in the scanning region is determined depending on how many segments the y-axis is divided while the light reflection portion 140 moves along the y-axis. Specifically, when the light reflection portion 140 is closest to the sensor portion 130 The position is referred to as S_min and the position where the light reflector 140 moves the farthest from the sensor unit 130 is defined as S_max and an index k can be set such that k = 0 in S_min and k = k_max in S_max . Here, k_max can be determined according to the moving speed of the light reflecting portion 140. For example, when the sensor unit 130 has a rotation speed of 10 Hz and the light reflection unit 140 moves at a speed of 10 mm / s, the y-axis resolution of the three-dimensional scanning device 100 may be 1 mm . At this time, the distance resolution S_inc of the y axis can be expressed as S_inc = (S_max - S_min) / k_max.

The three-dimensional scanning apparatus 100 calculates k_max based on the moving speed of the light reflecting unit 140, and can thereby calculate the y-axis distance resolution S_inc, and the light reflecting unit 140 moves from S_min to S_max , It is possible to acquire the three-dimensional coordinate value of the measurement object by scanning the scanning area. Specifically, the y-axis coordinate value can be expressed as y (k) = S_min + k * S_inc as the k value increases. Further, the distance value dr from the sensor unit 130 to P can be obtained by using reflected light reflected at a point P of the measurement object, and the z axis coordinate value is z (k) = dr * sin (k) y (k). Also, the x-axis coordinate value can be expressed as x (k) = dr * cos (k). That is, the three-dimensional scanning apparatus 100 can calculate the distance resolution of the y-axis based on the moving speed of the light reflecting unit 140, obtain the coordinate value of the y-axis using the calculated distance, Coordinate values of the z-axis and the x-axis can be obtained by using the distance between the objects.

The three-dimensional scanning device 100 may consider the refractive index depending on the material of the supporting part 120 because an error may occur in the three-dimensional coordinate value of each point of the measuring object due to the refraction of light generated in the supporting part 120. [ So that the obtained three-dimensional coordinate value can be corrected. Here, the refractive index different from the material of the support 120 may be a value previously stored in the three-dimensional scanning device 100. For example, the support 120 may be provided as an acrylic plate, and the three-dimensional scanning device 100 may correct the three-dimensional coordinate values obtained according to the refractive index of acrylic material stored in advance. Accordingly, the three-dimensional scanning apparatus 100 according to an embodiment of the present invention can easily detect the three-dimensional shape of the lower portion of the measurement target using the light reflection portion 140 that linearly moves on the stage portion 110 And generate it correctly.

5 is a flowchart illustrating a three-dimensional scanning method according to an embodiment of the present invention.

Referring to FIG. 5, first, light is irradiated toward a mirror installed on a stage of a three-dimensional scanning device (S510).

Subsequently, the path of the light irradiated toward the mirror is changed so that light is irradiated to the measurement object (S520). Specifically, the mirror can be tilted by a predetermined angle with respect to the incident surface of the light so that the light irradiated to the mirror is irradiated perpendicularly to the support on which the measurement object is placed.

Subsequently, while the reflected light reflected from the measurement object is sensed (S530), the driving of the mirror is controlled so that the mirror linearly moves on the stage (S540).

Then, a three-dimensional shape of the measurement object is generated using the sensed reflected light (S550). Specifically, it is possible to calculate an exploded view of the axis parallel to the movement direction of the mirror based on the moving speed of the mirror, and obtain the coordinate value in the axial direction parallel to the movement direction of the mirror based on the calculated exploded view. Also, the three-dimensional coordinate value of the measurement object can be obtained from the sensed reflected light using the distance from the three-dimensional scanning device to the measurement object and the resolution. In this case, the obtained three-dimensional coordinate value can be corrected in consideration of the refraction of the reflected light.

Further, a scanning area for scanning the measurement object can be set based on the movement distance of the mirror and the length of the mirror. Accordingly, the three-dimensional scanning apparatus can scan only the set scanning area and reduce the time required to acquire the three-dimensional coordinate value of the measurement object.

As described above, according to various embodiments of the present invention, it is possible to easily generate the three-dimensional shape of the lower part of the measurement object and acquire accurate three-dimensional coordinate values of the lower part of the measurement object.

In addition, according to various embodiments of the present invention, it is possible to scan a measurement object positioned close to the three-dimensional scanning device using a mirror, thereby reducing the size of the three-dimensional scanning device.

Meanwhile, a non-transitory computer readable medium storing a program for sequentially performing the three-dimensional scanning method according to an embodiment of the present invention may be provided.

Non-transitory computer readable medium is not a medium for storing data for a short time such as a register, a cache, a memory, etc., but means a medium that semi-permanently stores data and is readable by a computer. In particular, the various applications or programs described above may be stored on non-volatile readable media such as CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM,

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the present invention.

100: Three-dimensional scanning device 110:
120: support part 130:
131: light emitting portion 132: light receiving portion
133: Control section 140: Light reflection section

Claims (13)

A stage portion;
A support disposed on the stage and on which the measurement object is placed;
A light source unit for emitting light;
A light reflection part provided on the stage part and changing a path of light emitted from the light source part to irradiate the measurement object with light;
A light receiving unit for sensing reflected light reflected from the measurement object; And
And a controller for controlling driving of the light reflection part such that the light reflection part linearly moves on the stage part and generating a three-dimensional shape of the measurement object using reflected light sensed by the light reception part. The method according to claim 1,
Wherein,
Dimensional scanning device for calculating an exploded view of an axis parallel to a moving direction of the light reflecting portion based on a moving speed of the light reflecting portion and acquiring an axial coordinate value parallel to the moving direction of the light reflecting portion based on the exploded view, . 3. The method of claim 2,
Wherein,
Dimensional coordinate values of the measurement object using the distance from the light source unit to the measurement object and the resolution. The method of claim 3,
Wherein,
And correcting the obtained three-dimensional coordinate value in consideration of a refractive index of the previously stored supporting unit. 5. The method of claim 4,
Wherein the support portion is made of an acrylic material. The method according to claim 1,
Wherein,
And sets a scanning area for scanning the measurement object based on the movement distance of the light reflection part and the length of the light reflection part. The method according to claim 1,
The light-
Wherein the light irradiated from the light source unit is installed to be inclined by a predetermined angle with respect to an incident surface of the light emitted from the light source unit so as to be perpendicularly irradiated to the support unit. A three-dimensional scanning method for a three-dimensional scanning apparatus,
Irradiating light toward a mirror provided on a stage of the three-dimensional scanning device;
Changing a path of the light so that the light is irradiated to the measurement object;
Sensing reflected light reflected from the measurement object;
Controlling driving of the mirror so that the mirror linearly moves on the stage; And
And generating a three-dimensional shape of the measurement object using the reflected light. 9. The method of claim 8,
Wherein the step of generating the three-dimensional shape of the measurement object comprises:
Calculating an exploded view of the axis parallel to the moving direction of the mirror based on the moving speed of the mirror; And
And obtaining coordinate values in the axial direction parallel to the moving direction of the mirror based on the resolution. 10. The method of claim 9,
Wherein the step of generating the three-dimensional shape of the measurement object comprises:
And obtaining the three-dimensional coordinate value of the measurement object using the distance from the three-dimensional scanning device to the measurement object and the exploded view. 11. The method of claim 10,
Wherein the step of generating the three-dimensional shape of the measurement object comprises:
And correcting the obtained three-dimensional coordinate value in consideration of refraction of the reflected light. 9. The method of claim 8,
And setting a scanning area for scanning the measurement object based on the movement distance of the mirror and the length of the mirror. 9. The method of claim 8,
Wherein the step of changing the path of light comprises:
And tilting the mirror with respect to an incident surface of the light by a predetermined angle so that the light irradiated to the mirror is irradiated perpendicularly to the supporting portion on which the measurement object is placed.

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