KR20200095940A - Laser Scanner - Google Patents

Abstract

The present invention relates to a laser scanner device, and more particularly, to a laser scanner device capable of acquiring three-dimensional image information including distance information by horizontally and vertically performing two-dimensional scanning, and capable of simultaneously acquiring a three-dimensional color image and a three-dimensional black-and-white image by simultaneously radiating a near-infrared (NIR) ray and a visible light having three primary colors, when acquiring the distance information by measuring a time-of-flight by radiating a laser pulse beam to a target and receiving a laser signal reflected and returned from the target. In addition, according to the present invention, the laser scanner device includes: a transmission unit for generating a laser pulse signal according to signal processing and a control signal of a control unit to perform two-dimensional scanning on a target area; a reception unit for separating a laser pulse reflected from the target area into a visible light and a near-infrared ray to output a visible light signal and a near-infrared ray signal, and generating and outputting a luminance signal of a black-and-white signal by using the separated visible light; and a signal processing and control unit for outputting the control signal to the transmission unit, converting the visible light signal, the luminance signal, and the near-infrared signal separated by the reception unit into digital signals, and multiplexing, into one, digital data streams of the visible light signal and the near-infrared signal converted into the digital signals together with the distance information.

Description

Laser scanner device {Laser Scanner}

The present invention relates to a laser scanner device, in particular, in obtaining distance information by measuring a time-of-flight by radiating a laser pulse beam to an object and receiving a reflected laser signal to return, horizontal and vertical 3D image information including distance information can be obtained by scanning in 2D, and 3D color image and black and white 3D image by simultaneously emitting three primary colors of visible light and NIR (Near Infrared) It relates to a laser scanner device capable of simultaneously obtaining a dimensional image.

3D laser scanners, which are currently widely used in commercial use, mainly acquire an image in 3D using an infrared laser, which is an invisible light having a wavelength of 900 nm or more, and when reproducing it, an infrared point cloud ) Creates a three-dimensional image image on the display screen by forming the locus of black and white dots.

Therefore, there is a disadvantage that the color of the actual image cannot be expressed. However, in this case, post-processing of normal software algorithms for convenience of analysis As a work, it is used to visually facilitate the recognition of the distance between image pixels by displaying the color of each point crowd differently according to the distance range, but the color expressed here is completely irrelevant to the color of the actual object. .

Therefore, since the image image obtained from the laser scanner is basically a black and white (B&W) image, it was difficult to accurately analyze the image as the actual color of the scanned background, object, or structure was not known with the image obtained with such a conventional laser scanner.

Korean Patent Publication No. 10-2005-0044973 Korean Patent Publication No. 10-2012-0044486 Domestic registration number 10-1486146

The present invention was conceived to solve the above problems, and in obtaining distance information by radiating a laser pulse beam to an object and receiving a laser signal that is reflected and returned to measure a time-of-flight , Scanning horizontally and vertically in two dimensions to obtain three-dimensional image information, including distance information, and simultaneously radiates three primary colors of visible light and near infrared (NIR) to obtain color three-dimensional It is to provide a laser scanner device capable of simultaneously acquiring an image and a black and white 3D image.

An aspect of the present invention is a transmitter for generating a laser pulse signal according to the control signal of the signal processing and control unit to scan the target area in two dimensions; A receiving unit that outputs a control signal to the transmitting unit, separates the laser pulse reflected from the target region into visible light and near-infrared, outputs a visible light signal and a near-infrared signal, and generates and outputs a luminance signal of a black and white signal using the separated visible light. ; And outputting a control signal to the transmitter, converting the visible light signal, the luminance signal and the near-infrared signal separated from the receiver into a digital signal, so that the digital data stream of the visible light signal and the near-infrared signal converted to a digital signal is distance information. It includes a signal processing and a controller for multiplexing together with one.

In addition, the transmitter of one aspect of the present invention is a pulse modulation and switching unit for switching a pulse of a short width generated by the control signal (trigger signal) from the signal processing and control unit; A laser pulse generator that generates and outputs an actual laser pulse according to the pulse modulation and switching of the switching unit; And a laser two-dimensional scanning unit that transmits the laser pulse signal generated by the laser pulse generating unit to a target region to be imaged and performs two-dimensional scanning in the X and Y axes.

In addition, the pulse modulation and switching unit of one aspect of the present invention is a pulse modulator for receiving a control signal trigger pulse from the signal processing and control unit to generate a square wave pulse; And a laser switching circuit for switching the laser diode of the laser pulse generator according to the square wave pulse generated by the pulse modulator.

In addition, the laser pulse generator of one aspect of the present invention is a pair of laser diodes; A pair of collimators corresponding to each of the pair of laser diodes and collecting laser beam rays into points; A pair of adapters that connect and connect the laser beam generated corresponding to each focuser to a single mode optical fiber cable; An optical directional coupler that synthesizes and outputs laser beams output from the pair of adapters; And an output adapter for emitting a laser beam from the optical directional coupler to the laser two-dimensional scanning unit.

In addition, in the pair of laser diodes of one aspect of the present invention, one laser diode includes a near infrared laser diode having a near infrared (NIR) wavelength of 905 nm and a red laser diode having a wavelength of 610 nm, and the other laser diode has a wavelength. The green laser diode of 535nm and the blue laser diode of 470nm wavelength are built together.

In addition, the laser two-dimensional scanning unit of one aspect of the present invention vertical reflection mirror for vertically reflecting the laser pulse projected from the laser pulse generating unit; A horizontal reflection mirror that horizontally reflects the laser pulse reflected from the vertical reflection mirror; A vertical motor driving the vertical reflective mirror in a vertical direction; A horizontal motor driving the horizontal reflective mirror in a horizontal direction; A motor controller that controls vertical and horizontal motors under the control of the signal processing and control unit; A vertical encoder that encodes the address of the vertical axis; A horizontal encoder that encodes the address of the horizontal axis; And a scan address multiplexer that multiplexes and outputs the address of the vertical axis output through the vertical encoder and the address of the horizontal axis output through the horizontal encoder.

In addition, the receiving unit of one aspect of the present invention for receiving the objective lens for focusing the laser pulse reflected from the target area; A laser signal separation unit for receiving the laser pulse focused from the receiving objective lens and separating and outputting visible light and near infrared rays; A visible light primary color separation optical unit that separates and outputs a primary color from the visible light; And a signal synthesis and mode selector for synthesizing primary colors separated from the visible light primary color separation optical unit to generate and output a luminance signal of a black and white signal.

Further, the receiving objective lens of one aspect of the present invention receives and focuses a laser pulse of near infrared (NIR), which is visible light and invisible light.

In addition, the visible light primary color separation optical unit according to an aspect of the present invention includes: a first wavelength-selective translucent mirror that reflects light of a long wavelength of 610 nm and passes light of the remaining wavelengths; And a second color classification that reflects light having a short wavelength of blue at a wavelength of 470 nm and transmits light of a wavelength range of 500 to 600 nm in the vicinity of the intermediate wavelength band in the light passing through the first color classification translucent mirror. Includes translucent mirror.

In addition, the receiving unit of one aspect of the present invention is a synchronization signal generator for generating a synchronization signal; And a near-infrared optics and amplification unit for amplifying and outputting the near-infrared rays separated by the laser signal separating unit, wherein the signal synthesizing and mode selection unit synthesizes the synchronous signal generated by the synchronous signal generation unit with the luminance signal and A signal is generated and output, and a near-infrared signal output from the near-infrared optical and amplifying unit is received and output.

In addition, the signal processing and control unit of one aspect of the present invention amplifies the primary color of visible light separated from the visible light primary color separation optical unit, converts an analog signal form into a digital signal, and is the output signal of the signal synthesis and mode selector An analog-to-digital conversion module that converts a signal, a synchronized luminance signal, and a near infrared signal into a digital signal; And a digital data format processing unit in which a digital data stream of a visible light signal and a near infrared signal converted into a digital signal in the analog digital conversion module is multiplexed together with distance information.

In addition, the analog-to-digital conversion module of one aspect of the present invention includes: a first analog-to-digital conversion unit for amplifying the primary color of visible light separated from the visible color primary optical separation unit and converting an analog signal form into a digital signal; And a second analog-to-digital converter for converting the luminance signal, the output signal of the signal synthesis and mode selection unit, the synchronized luminance signal, and the near infrared signal into a digital signal.

In addition, the signal processing and control unit of one aspect of the present invention includes a timing detection unit that detects a pulse detection time from an output signal of the signal synthesis and mode selection unit; And a time digital conversion unit converting a time interval corresponding to a time difference between a pulse detection time detected by the timing detection unit and a time at which the laser pulse is transmitted from the transmission unit into a digital signal and outputting it as distance information.

In addition, the signal processing and control unit of one aspect of the present invention inputs and outputs various control signals, generates digital data necessary for a mode set in a mode and a control interface, and stores the data in a memory or externally through a communication port. It further includes a main control device for transmitting.

In addition, one aspect of the present invention further includes a power supply unit including a high voltage circuit for supplying a high voltage to a battery and a transmitter and a receiver for generating various voltages required for circuit operation.

On the other hand, another aspect of the present invention is a pulse modulation and switching unit for receiving a control signal from the main control unit for switching the laser pulse generator; A laser pulse generator for generating and outputting a laser pulse signal according to the pulse modulation and switching of the switching unit; A laser two-dimensional scanning unit that transmits the laser pulse signal generated by the laser pulse generation unit to a target area to be imaged and performs two-dimensional scanning in X and Y axes; A receiving objective lens for focusing the laser pulse reflected from the target region; A laser signal separation unit that receives the laser pulse focused from the receiving objective lens and separates and outputs visible light; A visible light primary color separation optical unit that separates and outputs a primary color from the visible light; A synchronization signal generator for providing a synchronization signal; A near-infrared optical and amplifying unit for amplifying and outputting near-infrared separated from the laser signal separation unit; The primary colors separated by the primary color separation optical unit are synthesized to generate and output a luminance signal of a black and white signal, and a synchronization signal generated by the synchronization signal generation unit is synthesized with the luminance signal to generate and output a synchronization luminance signal, A signal synthesis and mode selection unit for receiving and outputting the near infrared signal output from the near infrared optical and amplifying unit; Amplifies the primary color of visible light separated from the visible light primary color separation optical unit, converts the analog signal type into a digital signal, and converts the luminance signal, synchronized luminance signal, and near-infrared signal, which are output signals from the signal synthesis and mode selector, into digital signals. Analog-to-digital conversion module; A digital data format processing unit in which a digital data stream of a visible light signal and a near infrared signal converted into a digital signal in the analog digital conversion module is multiplexed together with distance information; And a main control device for inputting and outputting various control signals, generating digital data necessary for a mode set in a mode and a control interface, and storing the data in a memory or sending it out through a communication port.

By applying the technology according to the present invention, a three-dimensional 3D image image including distance information is obtained, and at the same time, a 2D color image image representing an actual color of the object can be obtained, and thus, when analyzing and analyzing the image image information, the object The advantage of acquiring the complete information of is very beneficial in accurately recognizing the content and information of the image.

This allows laser scanners to provide very useful functions in a variety of industrial and military applications.

1 is a block diagram of a laser scanner according to an embodiment of the present invention.
2 is a detailed block diagram for implementing the apparatus of the present invention.
3 is a reference diagram showing wavelength-related band characteristics of R, G, B, and NIR on visible and near infrared spectra.

In order to explain the present invention, operational advantages of the present invention, and objects achieved by the implementation of the present invention, the following will illustrate preferred embodiments of the present invention and will be described with reference to them.

First, the terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention, and singular expressions may include plural expressions unless the context clearly indicates otherwise. Also in this application, the terms “include” or “have” are intended to indicate that there are features, numbers, steps, actions, components, parts or combinations thereof described herein, one or more other. It should be understood that features or numbers, steps, operations, components, parts, or combinations thereof are not excluded in advance.

In describing the present invention, when it is determined that a detailed description of related known configurations or functions may obscure the subject matter of the present invention, the detailed description will be omitted.

1 is a configuration diagram of a laser scanner according to an embodiment of the present invention.

Referring to FIG. 1, a laser scanner according to an embodiment of the present invention includes a transmitter 100, a receiver 200, a signal processing and control unit 300, and a power supply unit 400.

The transmission unit 100 includes a pulse modulation and switching unit 110, a laser pulse generation unit 120, and a laser 2D scanning unit 130.

In addition, the receiving unit 200 includes a receiving objective lens 210, a laser signal separation unit 220, a visible light primary color separation optical unit 230, a near-infrared optical and amplifying unit 240, a synchronization signal generation unit 250, and A signal synthesis and mode selection unit 260 is included.

Next, the signal processing and control unit 300 includes a main control unit 310, a memory 320, a mode and control interface 330, an operation panel 340, a digital data format processing unit 350, a first analog digital conversion It includes a unit 360, a second analog-to-digital conversion unit 370, a timing detection unit 380, and a time digital conversion unit 390. The first analog-to-digital conversion unit and the second analog-to-digital conversion unit form an analog-to-digital conversion module.

In addition, the power supply unit 400 includes a battery and a power supply unit 410 and a high voltage circuit 420.

In this configuration, the pulse modulation and switching unit 110 of the transmitter 100 receives a control signal trigger pulse from the main controller 310 to make a very narrow square wave pulse, and a laser pulse generator according to the generated square wave pulse. The laser diode of 120 is switched.

The laser pulse generator 120 generates and outputs a laser pulse signal by a laser diode according to pulse modulation and switching of the switching unit 110.

Then, the laser two-dimensional scanning unit 130 transmits the laser pulse signal generated by the laser pulse generating unit 120 to an object or region (target region) to be imaged, and scans in two dimensions in the X and Y axes. ).

On the other hand, the objective lens 210 for reception of the transmitting unit 200 receives a laser pulse of near infrared rays (NIR), which are visible light and invisible light reflected from the target area, and focuses to a narrow area. Order.

The laser signal separation unit 220 separates the laser pulses into visible and invisible light in the near infrared band.

Then, the laser signal separation unit 220 outputs the separated visible light to the visible light primary color separation optical unit 230.

The visible light primary color separation optical unit 230 separates visible light into three types of light: red (R: Red), green (G: Green), and blue (B: Blue).

According to the principle of chromaticity, the luminance of a black and white signal is composed of three primary colors: red (wavelength 610nm) 30%, green (wavelength 535nm) 59%, and blue (wavelength 470nm) 11%.

Therefore, when these three primary colors are synthesized at this ratio, they become luminance (called'Y signal'), which is the brightness of black and white signals.

Therefore, they are attenuated at each ratio and input to the signal synthesis and mode selection unit 260.

The signal synthesis and mode selection unit 260 synthesizes the three primary colors input from the primary visible light color separation optical unit 230 to generate a luminance signal that is the brightness of a black and white signal.

As such, the signal synthesis and mode selection unit 260 outputs a luminance (Y) signal, which is analog monochrome brightness information.

To display this, a synchronization signal is required, and the synchronization signal generator 250 generates and outputs it.

When the synchronization signal generator 250 generates and outputs a synchronization signal, the signal synthesis and mode selector 260 synthesizes it into a luminance (Y) signal and synchronizes the luminance (Y), which is a combined luminance signal. ') It becomes a signal.

This synchronized luminance (Y') signal is necessary when viewing an image on a television or display device.

Meanwhile, the laser signal separation unit 220 inputs the separated analog signal of the near infrared signal to the near infrared optical and amplification unit 240.

The optical and amplifying unit 240 amplifies the analog signal of the near-infrared signal input from the laser signal separation unit 220 and outputs the amplified analog signal to the signal synthesis and mode selection unit 260.

Accordingly, the signal synthesis and mode selection unit 260 synthesizes a signal according to the analog signal of the amplified near-infrared signal or selects a signal for each mode.

Next, the analog digital conversion module of the signal processing and control unit 300 amplifies the primary color of visible light separated from the visible light primary color separation optical unit 230, converts the analog signal form into a digital signal, and synthesizes the signal and selects a mode ( 260) converts the luminance signal, the synchronized luminance signal, and the near infrared signal, which are output signals, into digital signals.

Looking at this in more detail, the first analog-to-digital conversion unit 360 amplifies the primary color of visible light separated by the primary color separation optical unit 230 and converts the analog signal form into a digital signal.

Then, the second analog-to-digital converter 370 converts the luminance signal, the synchronized luminance signal, and the near infrared signal into digital signals.

The digital data stream, which is a digital signal of a visible light signal and a near-infrared signal converted into a digital signal, is multiplexed into one together with distance information in the digital data format processing unit 350.

To detect the signal voltage of each point crowd (corresponding to a pixel in a normal image), it is determined that the reflected wave signal is received when the threshold voltage level is higher than the threshold voltage level. It is said.

The timing detector 380 of the signal processing and control unit 300 detects the pulse detection time from the signal synthesis and the output signal of the mode selection unit 260.

Here, the pulse detection time is the pulse reception time.

The time digital conversion unit 390 converts a time interval corresponding to a minute time difference between a pulse reception time (pulse detection time) and a time at which the laser pulse is transmitted by a transmitter, into a digital signal, and converts the digital data format into distance information. (350).

The overall operation of the laser scanning device is led by the main control unit (MPU) 310, in which various control signals are input and output, and make digital data necessary for the mode set in the mode and the control interface 330, Overall operation is performed using the operation panel 340, such as storing data in the memory 320 or sending it to the outside through a communication port.

Next, the battery 410 of the power supply unit 400 generates various voltages required for circuit operation and supplies them to the circuit, and the high-voltage circuit 420 includes a laser diode of the transmitter 100 and a laser signal at the front of the reception unit 200. It creates and supplies high voltage required for APD (Avalanche Photo Diode) that receives phosphorus light and converts it into current.

2 is a detailed block diagram for the implementation of the device of the present invention.

The operation principle of the apparatus of the present invention according to the configuration of FIG. 2 will be described in detail as follows.

First, reviewing the operation of the transmission unit, the pulse modulator 110-1 generates a short square wave pulse by the trigger signal received from the main control unit (MPU) 360, and the laser switching circuit 110-2 generates a laser. The diodes 120-1 and 120-2 are switched so that a laser pulse is transmitted through the laser optical system.

The laser pulse generator 120 is composed of laser diodes 120-1 and 120-2 and collimators 120-3 and 120-4 that collect laser beam rays into small points. , A focusing lens and a focal length adjusting device are included in the focusing devices 120-3 and 120-4.

Here, since the present invention uses two lasers of visible light and near infrared rays at the same time, it consists of two sets of laser diodes and focusers.

In the case of laser diodes currently manufactured and sold in the industry, there is a dual laser diode in which laser diodes with two different wavelengths are contained in one package, so an example of using this is shown.

That is, the laser diode 120-1 includes a near infrared laser diode having a near infrared (NIR) wavelength of 905 nm and a red laser diode having a wavelength of 610 nm, and the laser diode 120-2 has a wavelength of 535 nm with a green laser diode. A blue laser diode of 470nm is built-in. These four diodes generate near-infrared rays (905nm) and the three primary colors of visible light (610, 535, 470nm).

The adapters 120-5 and 120-6 are all connected by connecting the generated laser beams to a single-mode optical biber cable (120-7, 120-8).

These two strands of optical fiber enter the optical directional coupler (optical directional coupler) (120-9) and the laser beams of 4 wavelengths are synthesized together and proceed only in the output direction with one optical fiber.

The output adapter 120-10 fires a laser beam from the optical directional coupler 120-7 into free space, which is now a vertical reflection mirror 130-1 and a horizontal reflection that form a laser two-dimensional scanning unit. It is transmitted to an object or an object area to acquire an image through the mirror 130-2.

Here, both the vertical motor 130-2 and the horizontal motor 130-4 are precision stepping motors, and when they are controlled from the main control device 360, they are spaced in the horizontal and vertical directions through the control interface 330. By rotating each time, the target object is scanned to obtain a video image.

At this time, according to the rotation of the two motors, the addresses of the X and Y axes are provided to the data multiplexer 350 through the horizontal and vertical encoders 130-6 and 130-7 and the scan address multiplexer 130-8. The address is combined with the measurement data of the receiver and stored in the memory 320 via the MPU 310.

The motor controller 130-5 supplies appropriate voltages to both motors.

Next, when the operation of the receiving unit is described, the receiving objective lens 210 is a portion that receives all rays coming from an object or a target region to be scanned, and increases the received light amount through a combination of a convex lens and a concave lens. It serves to collect light coming from a wide aperture into a narrow area to increase sensitivity.

The laser signal separation unit 220 uses a special prism for separating near-infrared wavelengths of visible light and invisible light.

The near infrared ray separated from the special prism 220 is reflected from the inside and goes to the near infrared lens 240-1 constituting the near-infrared optical and amplifying unit 240, and all R, G, and B visible rays are directly transmitted to separate the visible primary color. Go straight to the first wavelength-selective dichroic mirror 230-1 constituting the optical unit 230.

In the first transmissive mirror for each color line (dichroic mirror: 230-1), light having a wavelength of 610 nm or longer is reflected and proceeds in the direction of the first reflective mirror 230-3, and other visible light Immediately penetrates and enters the second color sorting translucent mirror (230-2).

The second color-selective translucent mirror 230-2 reflects blue light with a wavelength of 470 nm or shorter wavelength to enter the ordinary second reflecting mirror 230-3, and The light proceeds straight forward, is transmitted, and enters the third focusing lens 230-12.

As described above, the translucent mirrors 230-1 and 230-2 for each color line separate the three primary colors of R (emission), G (green), and B (blue) from visible light.

As described above, the light rays received from the receiving objective lens 210 are separately processed into four light paths of near-infrared light, visible light R, visible light G, and visible light B, and these are each of the first to fourth focusing lenses 240-1 and 230. -11, 230-12, 230-13), and first to fourth color band-pass interference filters 240-2 and 230 that pass only light having near-infrared, red, green, and blue colors, respectively. -21, 230-22, 230-23), and then receiving light and converting it into a current, Avalanche Photo Diode (APD: Avalanche Photo Diode, 240-3, 230-31, 230-32, 230-33).

After that, their weak analog signals, which became electric signals, enter each of the signal amplifiers 240-4, 230-41, 230-42, and 230-43, and are amplified into large signals, respectively. It becomes analog output of signal and NIR signal.

Here, the R signal, the G signal, and the B signal are synthesized in a ratio of 30%, 59%, and 11% respectively according to the principle of color theory to produce a Y signal, which is a luminance, which is a signal synthesis and mode selection unit ( 260) is formed by a voltage synthesis circuit composed of resistors 260-1, 260-2, 260-3, and 260-4.

The signal synthesis circuit for each mode (260-5) synthesizes each other by using the input luminance signal (Y), near-infrared (NIR), and a sync pulse from the synchronization signal generator 250, or synthesizes the main control device (MPU). In accordance with the instruction of) (310), a suitable signal is output to the output terminal.

That is, it is used to output the image to the external TV or display by synthesizing the Y signal and the sync pulse to make the Y'signal, which is a synchronization luminance signal.

Also, a Y signal or a NIR signal is output to the output as needed. In other words, in the laser scan mode using only near infrared rays (NIR), as well as outputting the NIR signal and processing in the analog-to-digital converter 370-1, the signal processing is entered, and the laser scan mode using only visible light In, the Y signal is output to the output, and the R, G, B, and Y signals are converted to digital signals by the corresponding analog-to-digital converter (ADC) (360-1, 360-2, 360-3, 370-1). Signal processing is entered later.

Next, the circuits corresponding to the signal processing and the control unit will be described. The timing detector 380 receives the Y signal or the NIR signal, detects this by receiving a reflected signal when a signal exceeding the appropriately set threshold level is inputted to increase the level. Then, it is sent to the time-to-digital converter 390 to convert the difference between the transmission laser pulse emission time and the reflected wave reception time, that is, the time difference into a digital physical quantity, and convert it into a distance of an object. This is all under the control of the main control device 360.

Digital signal values output from four analog-to-digital converters (ADCs) 360-1, 360-2, 360-3, and 370-1 in the digital signal processing process and output from the time-to-digital converter 390 Values (distance information) and input values from other satellite location information (GPS), etc., are synthesized in one format by the data multiplexer 350-1 and stored in the memory 320 through the main controller 360 or serially It is transmitted to the outside through the output port 360-1.

The crystal oscillator 360-2 provides a basic clock signal or other frequency signal to which the main control device 360 operates.

The mode and control interface 330 provides information to the main control device 360 to select an operation for each mode according to the setting of the front panel 340-1, and provides an interface for necessary control.

Lastly, the power supply is a circuit that provides various voltages required by this device by receiving voltage from the built-in battery or external commercial power, and the high voltage that generates high voltage (HV, High Voltage) by receiving the voltage from the battery 410 and the battery 410. It consists of a circuit 420, and the high voltage is used for pulse generation of the laser diodes 120-1 and 120-2 of the transmitter and the avalanche photodiodes 230-31, 230-32, and 230-33 of the receiver.

FIG. 3 is a reference diagram showing wavelength-related band characteristics of R, G, B, and NIR on visible and near-infrared spectrum.

By applying the technology according to the present invention, a three-dimensional 3D image image including distance information is obtained, and at the same time, a 2D color image image representing an actual color of the object can be obtained, and thus, when analyzing and analyzing the image image information, the object The advantage of acquiring the complete information of is very beneficial in accurately recognizing the content and information of the image.

This allows laser scanners to provide very useful functions in a variety of industrial and military applications.

The scope of the present invention is not limited to the above-described embodiments, but may be implemented in various types of embodiments within the scope of the appended claims. Any person having ordinary skill in the art to which the present invention pertains without departing from the gist of the present invention claimed in the claims is considered to be within the scope of the claims of the present invention to a wide range that can be modified.

100: transmitter 200: receiver
300: signal processing and control unit

Claims (16)

A transmitter for generating a laser pulse signal according to signal processing and a control signal from a control unit and performing two-dimensional scanning in the target area;
A receiving unit that separates the laser pulse reflected from the target area into visible light and near-infrared light, outputs a visible light signal and a near-infrared signal, and generates and outputs a luminance signal of a black-and-white signal using the separated visible light; And
A control signal is output to the transmitting unit, and the visible light signal, luminance signal, and near-infrared signal separated by the receiving unit are converted into digital signals, and the digital data stream of the visible light signal and the near-infrared signal converted into digital signals is provided with distance information and A laser scanning device including a signal processing and a control unit multiplexing together into one. The method of claim 1,
The transmitter
A pulse modulating and switching unit receiving a control signal from the signal processing and a control unit to generate a short pulse signal and switching the pulse signal;
A laser pulse generator for generating and outputting an actual laser pulse according to the pulse modulation and switching of the switching unit; And
A laser scanning device comprising a laser two-dimensional scanning unit that transmits the laser pulse signal generated by the laser pulse generation unit to a target area to be imaged and performs two-dimensional scanning in X and Y axes. The method of claim 2,
The pulse modulation and switching unit
A pulse modulator for generating a square wave pulse by receiving a trigger pulse as a control signal from the signal processing and control unit; And
And a laser switching circuit for switching the laser diode of the laser pulse generator according to the square wave pulse generated by the pulse modulator. The method of claim 2,
The laser pulse generator
A pair of laser diodes;
A pair of collimators corresponding to each of the pair of laser diodes and converging laser beam rays into points;
A pair of adapters for coupling and connecting the laser beam generated in correspondence to each focusing device to a single mode optical fiber cable;
An optical directional coupler for synthesizing and outputting laser beams output from the pair of adapters; And
A laser scanning device comprising an output adapter for emitting a laser beam from the optical directional coupler to the laser two-dimensional scanning unit. The method of claim 4,
In the pair of laser diodes, one laser diode includes a near infrared (NIR) wavelength of 905 nm and a red laser diode of 610 nm,
The other laser diode is a laser scanning device that incorporates a green laser diode with a wavelength of 535nm and a blue laser diode with a wavelength of 470nm. The method of claim 2,
The laser two-dimensional scanning unit
A vertical reflection mirror for vertically reflecting the laser pulse emitted from the laser pulse generator;
A horizontal reflection mirror for horizontally reflecting the laser pulses reflected from the vertical reflection mirror;
A vertical motor driving the vertical reflective mirror in a vertical direction;
A horizontal motor driving the horizontal reflective mirror in a horizontal direction;
A motor controller for controlling a vertical motor and a horizontal motor according to the signal processing and control of the controller;
A vertical encoder for encoding an address of a vertical axis;
A horizontal encoder for encoding an address on a horizontal axis; And
A laser scanning apparatus comprising a scan address multiplexer for multiplexing and outputting the address of the vertical axis output through the vertical encoder and the address of the horizontal axis output through the horizontal encoder. The method of claim 1,
The receiving unit
A receiving objective lens for focusing the laser pulse reflected from the target area;
A laser signal separating unit configured to separate and output visible light and near-infrared light by receiving the laser pulse focused from the receiving objective lens;
A visible light primary color separation optical unit that separates and outputs a primary color from the visible light; And
A laser scanning apparatus comprising a signal synthesis and mode selection unit for synthesizing the primary colors separated by the primary color separation optical unit to generate and output a luminance signal of a black and white signal. The method of claim 7,
The receiving objective lens receives and focuses laser pulses of visible and invisible near infrared rays (NIR). The method of claim 7,
The visible light primary color separation optical unit
A first color sorting translucent mirror reflecting light of a long wavelength of 610 nm red and passing light of the remaining wavelength; And
Including a second color-sorting semi-transparent mirror that reflects light of a short wavelength of blue color of 470 nm from the light that has passed through the first color sorting translucent mirror, and transmits light having an intermediate wavelength around green with a wavelength of 500 to 600 nm. Laser scanning device. The method of claim 7,
The receiving unit
A synchronization signal generator for generating a synchronization signal; And
Further comprising a near-infrared optical and amplifying unit for amplifying and outputting the near-infrared rays separated by the laser signal separation unit,
The signal synthesis and mode selection unit synthesizes the synchronization signal generated by the synchronization signal generator with the luminance signal to generate and output a synchronization luminance signal, and receives and outputs the near-infrared signal output from the near-infrared optics and amplification unit. Device. The method of claim 10,
The signal processing and control unit
Amplifies the primary color of visible light separated by the primary color separation optical unit and converts the analog signal form into a digital signal, and converts a luminance signal, a synchronized luminance signal, and a near-infrared signal, which are output signals of the signal synthesis and mode selection unit, into a digital signal. An analog-to-digital conversion module; And
A laser scanning device comprising a digital data format processor in which a digital data stream of a visible light signal and a near-infrared signal converted into a digital signal by the analog-to-digital conversion module are multiplexed together with distance information. The method of claim 11,
The analog to digital conversion module
A first analog-to-digital converter for amplifying the primary color of visible light separated by the primary color separation optical unit and converting an analog signal form into a digital signal; And
A laser scanning device comprising a second analog-to-digital converter converting a luminance signal, a synchronized luminance signal, and a near-infrared signal, which are output signals of the signal synthesis and mode selection unit, into a digital signal. The method of claim 11,
The signal processing and control unit
A timing detection unit for detecting a pulse detection time from an output signal of the signal synthesis and mode selection unit; And
A laser scanning device further comprising a time digital conversion unit converting a time interval corresponding to a time difference between a pulse detection time detected by the timing detection unit and a time when the laser pulse is transmitted by the transmission unit into a digital signal and outputting distance information. The method of claim 11,
The signal processing and control unit
A laser scanning device further comprising a main control device for inputting and outputting various control signals, generating digital data necessary for a mode set in a mode and a control interface, and storing the data in a memory or transmitting it to the outside through a communication port. The method of claim 1,
A laser scanning device further comprising a battery that generates and supplies various voltages required for circuit operation, and a power supply unit including a high-voltage circuit that creates and supplies a high voltage to a transmitter and a receiver. A pulse modulator and a switching unit that receives a control signal from the main control device and switches the laser pulse generator;
A laser pulse generator for generating and outputting a laser pulse signal according to the pulse modulation and switching of the switching unit;
A laser two-dimensional scanning unit that transmits the laser pulse signal generated by the laser pulse generation unit to a target area to be imaged and performs two-dimensional scanning in X and Y axes;
A receiving objective lens for focusing the laser pulse reflected from the target area;
A laser signal separation unit configured to separate and output visible light by receiving a laser pulse focused from the receiving objective lens;
A visible light primary color separation optical unit that separates and outputs a primary color from the visible light;
A synchronization signal generator providing a synchronization signal;
A near-infrared optics and amplifying unit for amplifying and outputting the near-infrared rays separated by the laser signal separation unit;
The primary colors separated by the primary color separation optical unit are synthesized to generate and output a luminance signal of a monochrome signal, and a synchronization signal generated by the synchronization signal generation unit is synthesized with the luminance signal to generate and output a synchronization luminance signal, A signal synthesis and mode selection unit for receiving and outputting the near infrared signal output from the near infrared optical and amplifying unit;
Amplifies the primary color of visible light separated by the primary color separation optical unit and converts the analog signal form into a digital signal, and converts a luminance signal, a synchronized luminance signal, and a near-infrared signal, which are output signals of the signal synthesis and mode selection unit, into a digital signal. An analog-to-digital conversion module;
A digital data format processor for multiplexing a digital data stream of a visible light signal and a near-infrared signal converted into a digital signal by the analog-to-digital conversion module together with distance information; And
A laser scanning device comprising a main control device that inputs and outputs various control signals, generates digital data necessary for a mode set in a mode and a control interface, and stores the data in a memory or transmits the data to the outside through a communication port.

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