KR20210150938A - Distance measuring device and its method for synchronizing Field Of View - Google Patents

Abstract

According to one embodiment, a distance measurement apparatus comprises: a light source unit including one or more light source elements; and a light diffusion device through which light emitted from the light source unit passes. The light diffusion device is divided into one or more sections, the light source elements of the light source unit are disposed with independent sections, and intensity of the light transmitted from the light source elements is adjustable. The present invention provides a view angle synchronization method of the distance measurement apparatus, comprising the following steps of: confirming a field of view (FOV) of a RGB camera; and adjusting a view angle of the distance measurement apparatus to correspond with the field of view of the RGB camera according to a predetermined standard. According to the present embodiment, electricity is efficiently used by the distance measurement apparatus and accurate distance calculation is possible.

Description

{Distance measuring device and its method for synchronizing Field Of View}

The present embodiment relates to a distance measuring device and a method for synchronizing the angle of view of the distance measuring device by adjusting the angle of view of the distance measuring device based on the angle of view of an RGB camera.

As a method for grasping 3D information, a stereo vision method, a structured light method, and a time of flight method are typically used.

Among them, the Time of Flight (TOF) method is a method of repeatedly generating a laser having a constant pulse, calculating the arrival time of a pulse reflected by an object and measuring the distance.

In the time of flight method, unlike the stereo vision method, the process of scanning the beam from the transmitter to the object is additionally performed, so the light source is included in the configuration. In addition, in order to properly reach the light from the light source to the object, it is necessary to emit a beam at a certain angle, and various light diffusion devices have been proposed. Specifically, although a diffuser or a prism is widely used as a light diffusing device, the angle of the beam can be appropriately adjusted by using various light diffusing devices including the diffuser.

However, the conventional light diffusion device generally uses a diffuser or a prism of a certain shape, and the radiation angle is determined according to the characteristics of the surface formed at the time of manufacture. In this case, regardless of the distance between the object and the light source, the beam is transmitted to the object according to the initially set radiation angle, so the detectable area is limited. do. In addition, since a single light diffusing device is used in the conventional light diffusing device, there is a limitation in that the angle cannot be adjusted to have various radiation angles.

In addition, in order to obtain color image information in addition to depth information from a device such as a smartphone, an RGB camera and a distance measuring device must be provided at the same time. However, although depth information can be obtained from a distance measuring device, there is a problem in that color image information is not available, and color image information can be obtained from an RGB camera, but depth information cannot be obtained. Accordingly, when the RGB camera and the distance measuring device are separately provided, the color image information and the depth information are obtained separately from the information processing device, and are processed separately.

As long as the color image information and the depth information of the RGB camera and the distance measuring device are separately processed in the above manner, each data cannot be properly utilized. If the color information of the object measured by the RGB camera and the depth information of the object obtained by the distance measuring device have different standards, this problem is exacerbated. When the angle of view to be measured continuously changes due to the movement of the light diffusing device of the distance measuring device, the problem of synchronizing the color image data and the depth data becomes more significant.

Against this background, an object of the present embodiment is, in one aspect, in a distance measuring device including a light source unit and a light diffusing device, by checking an angle of view of an RGB camera to adjust the angle of view of the distance measuring device, a distance measuring device and a distance measuring device It is to provide a method of synchronizing the angle of view of the device.

In order to achieve the above object, the first embodiment provides a light source unit including one or more light source elements that are arranged to have independent regions and output light, the intensity of light transmitted from the light source element being adjustable; and a light diffusion device through which the light emitted from the light source passes and the field of view (FOV) of the light is adjusted to correspond to the field of view of the RGB camera according to a set standard.

It is possible to provide a distance measuring device that controls a signal of a receiver inside the distance measuring device based on a current generated in the process of adjusting the angle of view of the distance measuring device to correspond to the angle of view of the RGB camera in the distance measuring device.

In the distance measuring device, the RGB camera may provide a distance measuring device including a telephoto lens.

In the distance measuring device, the light diffusion device includes a first diffusion unit and a second diffusion portion, and the first diffusion portion passes the light emitted from the light source portion, is connected to the first support, and surrounds the first diffusion portion. Consists of a part, wherein the main body includes a coil, a piezoelectric element, or a rotating device, and the first diffusion unit interacts with the main body to generate movement in the optical path direction, or in a direction perpendicular or horizontal to the optical path. It contains a magnet or a metallic material, and can adjust the radiation angle or direction of light by movement generated by the interaction of the first diffusion part and the body part, and the light source part receives a control signal and individually adjusts the output of the light source element It is possible to provide a distance measuring device that adjusts to

It is possible to provide a distance measuring device, which adjusts the angle of view by measuring a current or voltage generated by the interaction of the first diffusion unit and the main body in the distance measuring device.

It is possible to provide a distance measuring device further comprising a control device in the distance measuring device.

In the distance measuring device, the control device may provide a distance measuring device for controlling a signal of an RGB camera or a distance measuring device.

In the distance measuring device, the control device calculates the angle of view of the RGB camera to control the movement of the diffusing device, the distance measuring device may be provided.

In the distance measuring device, the distance measuring device may provide a distance measuring device further comprising a transmitter and a receiver.

The distance measuring device may provide a distance measuring device that compares the signal of the receiver of the RGB camera with the signal of the receiver of the distance measuring device to adjust the angle of view.

It is possible to provide a distance measuring device for controlling an angle of view by selecting only a signal of a partial region of the receiving unit in the distance measuring device.

In the distance measuring device, the receiving unit may provide a distance measuring device further comprising an optical device.

The distance measuring device may provide a distance measuring device for controlling an angle of view by comparing a depth signal of a receiving unit region of the distance measuring device with color image data of the RGB camera receiving unit.

It is possible to provide a distance measuring device for controlling an angle of view by processing a depth signal of the receiving unit region in a distance measuring device according to a set standard.

In order to achieve the above object, a second embodiment includes a light source unit including one or more light source elements; and a light diffusion device through which the light emitted from the light source unit passes, wherein the light diffusion device is divided into one or more regions, and the light source element of the light source unit is disposed with an independent area, and is transmitted from the light source element In the distance measuring device, the intensity of light can be adjusted, the steps of: checking a field of view (FOV, Field Of View) of an RGB (Red, Green Blue) camera; and adjusting the angle of view of the distance measuring device to correspond to the angle of view of the RGB camera according to a set standard.

In the method for synchronizing an angle of view of a distance measuring device, the method may further include controlling a signal of a receiver based on a current generated in the process of adjusting the distance measuring device to correspond to the angle of view of the RGB camera.

In the method for synchronizing the angle of view of the distance measuring apparatus, the RGB camera may provide a method including a telephoto lens.

In the method for synchronizing an angle of view of a distance measuring device, the light diffusing device includes a first diffusion unit and a second diffusion unit, and the first diffusion unit passes the light emitted from the light source unit and is connected to a first support, and 1 Consists of a body portion surrounding the diffusion portion, the main body portion comprising a coil, a piezoelectric element, or a rotating device, the first diffusion portion interacts with the body portion to prevent movement in the optical path direction or in a direction perpendicular to the optical path It contains a magnet or a metallic material that can be generated, the radiation angle or direction of light can be adjusted by movement generated by the interaction of the first diffusion part and the body part, and the light source part receives a control signal to control the light source element. You can provide a way to individually adjust the output.

In the method for synchronizing an angle of view of a distance measuring device, the method may further include measuring a current or voltage generated by the interaction between the first diffusion unit and the body unit.

In the method for synchronizing an angle of view of a distance measuring device, the distance measuring device may provide a method further comprising a control device.

In the method for synchronizing an angle of view of a distance measuring device, the control device may provide a method of controlling a signal of an RGB camera or a distance measuring device.

In the method for synchronizing an angle of view of a distance measuring device, the control device may provide a method of calculating an angle of view of an RGB camera and controlling the movement of the distance measuring device.

In the method for synchronizing an angle of view of a distance measuring device, the RGB camera may include a first transmitter and a first receiver, and the distance measuring device may include a second transmitter and a second receiver.

In the method for synchronizing an angle of view of a distance measuring device, the method may further include comparing a signal of a first receiver of the RGB camera with a signal of a second receiver of the distance measuring device.

In the method for synchronizing an angle of view of a distance measuring device, the method may further include the step of additionally selecting only a signal of a partial region of the second receiving unit of the distance measuring device.

In the method for synchronizing an angle of view of a distance measuring device, the second receiving unit of the distance measuring device may further include an optical device.

A method for synchronizing an angle of view of a distance measuring apparatus may provide a method of comparing a depth signal of a region of a second receiving unit of the distance measuring apparatus with color image data of the RGB camera receiving unit.

In the method for synchronizing an angle of view of a distance measuring device, a method of processing a depth signal of a second receiving unit region of the distance measuring device according to a set standard may be provided.

As described above, according to the present embodiment, it is possible to efficiently use the power consumption by the distance measuring device and to accurately calculate the distance.

1 is a view showing a distance measuring device including a plurality of light diffusing devices.
2 is a view showing a distance measuring device including one light diffusing device.
3 is a diagram illustrating a change in an angle of view according to a distance of an object.
4 is a schematic diagram illustrating a method of synchronizing an angle of view of a distance measuring device based on an angle of view of an RGB camera.
5 is a diagram illustrating a first embodiment of an RGB camera.
6 is a diagram illustrating a second embodiment of an RGB camera.
7 is a view showing a first embodiment of the distance measuring device.
8 is a view showing a second embodiment of the distance measuring device.
9 is a view comparing the angle of view of the distance measuring device and the angle of view of the RGB camera.
10 is a view showing a first embodiment of the second receiver of the distance measuring device.
11 is a cross-sectional view of a second receiver of the distance measuring device.
12 is a view showing a first embodiment of the control device.
13 is a view showing a second embodiment of the control device.
14 is a diagram comparing the area of the first receiver of the RGB camera and the area of the second receiver of the distance measuring device.
15 is a flowchart illustrating a method of synchronizing an angle of view of a distance measuring device.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in the description of the present invention, detailed descriptions of related well-known structures or functions that are determined to obscure the gist of the present invention will be omitted.

In addition, in describing the components of the present invention, terms such as first, second, a, and b may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, or order of the elements are not limited by the terms. When a component is described as being “connected”, “coupled” or “connected” to another component, the component may be directly connected to or connected to the other component, but another component is between each component. It should be understood that elements may also be “connected,” “coupled,” or “connected.”

1 is a view showing a distance measuring device including a plurality of light diffusing devices.

Referring to FIG. 1 , the distance measuring device 100 includes a first diffusion unit 20 , a second diffusion unit 30 , a cover 40 , a support unit 50 , an adjustment unit 60 , and a body unit 70 . , a coil 80 , and a magnet 90 .

The first diffusion unit 20 may be fixed by the support unit 50 , and may diffuse light transmitted from the light source unit 10 including the light source element 12 . The unevenness formed on the surface of the first diffusion unit 20 may have various shapes and materials, and the angle at which light is diffused may be set in various ways by such shapes and materials.

The second diffusion unit 30 is fixed by the control unit 60 , and may diffuse light passing through the first diffusion unit at a set radiation angle. The unevenness formed on the surface of the second diffusion unit 30 may have various shapes and materials, and the angle at which light is diffused may be set in various ways by these shapes and materials.

The body part 70 is coupled to the cover 40 , and a coil 80 may be formed inside the body part 70 .

The coil 80 may adjust the distance between the first diffusion portion and the second diffusion portion by interaction with the magnet 90 fixed inside the adjustment portion 60 .

A control device (not shown) may control the output of the set region of the light source element 12 .

The light source element 12 may form a light source chip, and one or more light source elements may be included. Illustratively, when the light source element 12 is a VCSEL (vertical cavity surface emitting laser), a plurality of VCSELs may be included.

The region of the light source element 12 may be divided into a first region and a second region, and the output of the first region and the output of the second region may be individually adjusted by a control device (not shown). have.

The output of the second region among the set regions of the light source element 12 may be adjusted to be lower than that of the first region.

The light source unit 10 may include a first light source unit and a second light source unit.

The first light source unit of the light source unit 10 may be configured as a vertical cavity surface emitting laser (VCSEL) device.

The second light source unit of the light source unit 10 may be wider than the beam angle of the first light source unit.

2 is a diagram illustrating a distance measuring device including one light diffusing device.

Referring to FIG. 2 , the distance measuring device 200 may include a diffusion unit 130 , a cover 140 , an adjustment unit 160 , a body unit 170 , a coil 180 , and a magnet 190 . .

The diffuser 130 is fixed by the control unit 160 , and may diffuse the light passing through the diffuser 130 at a set radiation angle. The unevenness formed on the surface of the diffusion unit 130 may have various shapes and materials, and the angle at which light is diffused may be set in various ways depending on these shapes and materials.

The body 170 is coupled to the cover 140 , and a coil 180 may be formed inside the body 170 .

The coil 180 may adjust the distance between the diffusion unit 130 and the light source unit 110 by interaction with the magnet 190 fixed inside the adjustment unit 160 .

The light source element 112 may form a light source chip, and one or more light source elements may be included. For example, when the light source element 112 is a VCSEL (vertical cavity surface emitting laser), a plurality of VCSELs may be included.

A control device (not shown) may control an output of a set region of the light source element 112 .

The region of the light source element 112 may be divided into a first region and a second region, and the output of the first region and the output of the second region may be individually adjusted by a control device (not shown). have.

The output of the second region among the set regions of the light source element 112 may be adjusted to be lower than that of the first region.

The light source unit 110 may include a first light source unit and a second light source unit.

The first light source unit of the light source unit 110 may be formed of a vertical cavity surface emitting laser (VCSEL) device.

The second light source unit of the light source unit 110 may be wider than an orientation angle of the first light source unit.

The positions of the diffusion unit 130 , the adjustment unit 160 , and the magnet 190 may be adjusted upward and downward.

The distance between the diffusion unit 130 and the light source unit 110 is adjusted by the interaction between the coil 180 and the magnet 190 , and more specifically, an electromagnetic force is generated by the coil 180 through which a current flows and the magnet 190 . The distance between the diffusion unit 130 and the light source unit 110 is adjusted by the interaction of the electromagnetic force with the diffusion unit 130 . The exact distance and direction of movement of the diffusion unit 130 and the light source unit 110 are determined according to the strength and direction of the current flowing through the coil 180 . For example, the amplification of the electromagnetic field by the coil 180 may adjust the distance according to the piezoelectric effect (piezo effect). In this case, the distance between the diffusion unit 130 and the light source unit 110 may be adjusted, and the direction of the light 101 passing through the distance measuring device 200 may be finally determined.

The direction of the light 101 may be variously determined as a diffusion angle for a distance or a diffusion angle for a short distance according to the shape of the surface of the diffusion unit 130 , and the radiation angle is not limited.

3 is a diagram illustrating a change in an angle of view according to a distance of an object.

Referring to FIG. 3 , the RGB camera 300 may adjust the light diffusion area or the light irradiation angle according to the distance of the object 360 .

A field of view (FOV) may be used as the same meaning as an angle of view (AOV). The angle of view (FOV) refers to an angle at which a camera can capture an image through a lens, and may mean an area at which the camera can capture an image, if necessary.

The field of view (FOV) may be defined based on a size of a region of light reaching an object or a light distribution having an intensity greater than or equal to a set reference, if necessary.

The field of view (FOV) may be defined as a beam divergence angle emitted from a light source as necessary.

으로 계산될 수 있지만, 이에 제한되지 않는다. (f: 초점거리, K: 촬상면(필름 또는 센서)의 길이)In general, the field of view (FOV) can be calculated using the focal length and the length of the imaging plane (film or sensor). Illustratively, angle of view (FOV) =

can be calculated, but is not limited thereto. (f: focal length, K: length of image plane (film or sensor))

Illustratively, the imaging plane means an area of a device that serves to receive light from the light collecting unit of the camera, and the length of the imaging plane may use various criteria such as horizontal, vertical, and diagonal lengths.

The RGB camera according to an embodiment may include a telephoto lens, and a field of view (FOV) may be adjusted by using the telephoto lens. In this case, the telephoto lens may be a combination of special lenses called a telephoto group that expands the path of light to make a long focal length lens. For example, the telephoto lens may include a plurality of lenses, and an apparatus for adjusting a distance between the lenses may be adjusted as necessary. Illustratively, the device for adjusting the distance between the lenses may be a VCM (Voice Coil Motor) including a coil and a magnet, but is not limited thereto.

In order to adjust the distance or direction between the lenses, if necessary, OIS (Optical Image Stabilization) technology may be applied to additionally generate movement or direction change of the optical expander or lens.

According to an embodiment, the angle of view of the RGB camera may be adjusted to the first angle of view 302 or the second angle of view 304 . The angle of view of the RGB camera is not limited as long as it is a telephoto lens or a device capable of adjusting the angle of view. For example, the device for adjusting the angle of view of the RGB camera may be a telephoto lens.

In general, when the object 360 is near, the angle of view of the RGB camera is greater than when the object 360 is far away. Conversely, in general, when the object 360 is far away, the angle of view of the RGB camera is smaller than when the object 360 is near. Whether the object is near or far may be determined differently according to a preset criterion.

According to an embodiment, when the object is far away, the reason why the angle of view is narrowed is that light reaching the object is less diffused and the amount of light reaching the object is increased. When the amount of light reaching the object is increased, the amount of reflected light reaching the image sensor increases, so that the image measured by the sensor can have a high resolution. When the amount of light reaching the sensor increases, less noise may be formed.

4 is a schematic diagram illustrating a method of synchronizing an angle of view of a distance measuring device based on an angle of view of an RGB camera.

Referring to FIG. 4 , in the method for synchronizing the angle of view of the distance measuring apparatus 400 according to an exemplary embodiment, the angle of view of the distance measuring apparatus may be adjusted based on the angle of view of the RGB camera 300 .

The distance measuring device may be expressed as Tx, the receiving unit of the distance measuring unit as Rx, and the RGB camera may be expressed as Tx, Rx, RGB, or the like, respectively, according to convenience.

According to one embodiment, the step of checking the angle of view of the RGB camera 300 and the step of adjusting the angle of view of the distance measuring device 400 may include (S1).

In the step of confirming the angle of view of the RGB camera 300, the angle of view may be checked based on the current or voltage inside the RGB camera, or the actual light irradiation angle may be measured, or the angle of view of the light may be directly measured, but is not limited thereto. .

In the step of adjusting the angle of view of the distance measuring device 400 , it may be adjusted to correspond to the angle of view of the RGB camera according to a set standard. The angle of view of the RGB camera can be adjusted in the same way, but the standard set according to the size, arrangement, and shape of the distance measuring device and the RGB camera may be set differently. For example, the angle of view of the RGB camera may be 30°, 50°, or 70°, and the angle of view of the distance measuring device may be adjusted to 30°, 50°, or 70°.

According to another embodiment, the distance measuring device 400 may include the second transmitter Tx, and may control the signal of the second transmitter according to a standard set by the distance measuring device 400 (S2). Illustratively, the signal of the second transmitter may be a current, voltage, or amount of charge, but is not limited thereto.

According to another embodiment, the distance measuring device 400 may control the signal of the RGB camera according to a set standard. (S3) Exemplarily, the signal of the RGB camera may be current, voltage, amount of charge, etc., and RGB It could be the focal length of the camera, the lens position, the output, etc.

5 is a diagram illustrating a first embodiment of an RGB camera.

6 is a diagram illustrating a second embodiment of an RGB camera.

5 and 6 , the RGB camera 300 may include a first transmitter 310 , a first receiver (not shown), and a telephoto lens 320 .

The first transmitter 310 serves to output light, but a conventionally known light output device may be used as long as it is capable of performing a similar type. The output light may have a first angle of view 302 . The first angle of view 302 can be adjusted according to the position of the object and the movement of the telephoto lens 320, but it is common to set the angle of view (FOV) to be larger when the object is near than when the object is far away. . On the other hand, when the object is far away, it is common to set the field of view (FOV) smaller than when the object is near. When the field of view (FOV) is set to be small, the amount of light per unit area reaching the object can be greatly increased, and in this case, the resolution of an acquired image can be increased and noise can be reduced.

The first receiver (not shown) may recognize the reflected light and process the generated signal when the light that reaches the object through the first transmitter 310 is reflected and arrives.

The telephoto lens 320 may include a plurality of lenses or a driving device capable of generating motion. According to an embodiment, the angle of view may be adjusted by moving the inside of the telephoto lens 320 , but the angle of view may be adjusted by moving the telephoto lens 320 itself. For example, the angle of view may be adjusted by movement of the telephoto lens 320 in the optical axis direction.

According to an embodiment, when the relative distance between the telephoto lens and the RGB camera increases, the angle of view (FOV) of light reaching the object may decrease.

7 is a view showing a first embodiment of the distance measuring device.

8 is a view showing a second embodiment of the distance measuring device.

7 and 8 , the distance measuring device 400 may include a light source unit 410 , a second diffusion device 420 , and a first diffusion device 430 .

The light source unit 410 may include one or more light source elements. The light source element may be arranged to have an independent area, and the intensity of light transmitted from the light source element may be adjustable.

The light diffusing device may be a device through which light emitted from the light source unit passes, and the light diffusing device may be divided into one or more regions.

The distance measuring device may adjust a field of view (FOV) of the distance measuring device based on the relative distance and relative movement between the second diffusing device 420 and the first diffusing device 430 . In this case, the FOV may have a first angle of view 402 or a second angle of view 404 , and if necessary, the first angle of view or the second angle of view may be divided according to a set criterion.

According to an embodiment, as the distance measuring device, the distance measuring device described in FIG. 1 or 2 may be utilized.

9 is a view comparing the angle of view of the distance measuring device and the angle of view of the RGB camera.

Referring to FIG. 9 , the angle of view of the RGB camera and the angle of view of the distance measuring device are compared. For example, when the FOV is reduced by the telephoto lens, the FOV of the distance measuring device may be reduced correspondingly. In this case, it may have an advantage of optimizing the light efficiency.

By linking the RGB camera and the field of view (FOV) of the distance measuring device, it is possible to control to receive the same amount of light, thereby optimizing the light efficiency. A driving driver may be used in the process of controlling the Tx or Rx by interworking, and a processor or a controller may be used as necessary.

10 is a view showing a first embodiment of the second receiver of the distance measuring device.

Referring to FIG. 10 , the second receiving unit 500 of the distance measuring device may be inside the distance measuring device or may be separately formed outside. The area of the light reaching the second receiver 500 may be adjusted by using the optical device 520 . The optical device 520 is not limited thereto as long as it is a concave lens, a convex lens, or a device capable of transmitting or reflecting light. The second receiver 500 of the distance measuring device may include an image sensor 550 . The image sensor may be a charge-coupled device (CCD), a complementary metal-oxide-semiconductor (CMOS), or the like, but is not limited thereto.

11 is a cross-sectional view of a second receiver of the distance measuring device.

Referring to FIG. 11 , according to an exemplary embodiment, light may reach a partial area of the image sensor 550 . According to the light reaching area, the area 510 of the image sensor may be divided into a light non-reaching area 501 and a light reaching area 503 .

According to the prior art, when the field of view (FOV) synchronization of the distance measuring device does not proceed, there is a problem that only a part of the central portion of the image sensor is used. In this case, a method of cropping the central portion of the image may be used (Cropping Method), and processing efficiency of the image sensor is reduced.

When the field of view (FOV) synchronization of the distance measuring device according to an exemplary embodiment is performed, all areas of the image sensor may be utilized.

According to an embodiment, data of the light arrival region 503 may be merged or overlapped with color data of the RGB camera. Partial data of the second receiving unit 500 may be enlarged, and in this case, a problem in that the resolution of the image is deteriorated occurs. This is because the ratio of the amount of light to each pixel decreases.

In addition, noise may occur due to natural light around the light arrival region 503 , and light leakage may occur.

Such noise or light leakage may cause a difference from the actual image data, and may remove noise or correct data errors due to light leakage according to a preset criterion.

For example, noise may be selectively removed by measuring a noisy area.

12 is a view showing a first embodiment of the control device.

13 is a view showing a second embodiment of the control device.

12 and 13 , according to an embodiment, the control device 600 may be included in the distance measuring device. According to another embodiment, the control device 600 may be included in the entire module including the second transmitter and the second receiver of the distance measuring device. According to another embodiment, the control device 600 may be included in the entire module including the distance measuring device and the RGB camera.

According to an embodiment, the control device 600 may control a signal of an RGB camera or a distance measuring device.

According to another embodiment, the control device 600 may calculate the angle of view of the RGB camera and control the movement of the distance measuring device.

Exemplarily, as the control device 600 , a conventional control device that may be referred to as a driving processor, a driving driver, a driver IC, or the like may be utilized.

14 is a diagram comparing the area of the first receiver of the RGB camera and the area of the second receiver of the distance measuring device.

Referring to FIG. 14 , the first receiver image sensor 350 of the RGB camera and the second receiver image sensor 550 of the distance measuring device may be compared.

In general, the entire area of the first receiver image sensor 350 of the RGB camera may be utilized. On the other hand, in the second receiver image sensor 550 of the distance measuring device according to an embodiment, light may reach a partial area, and may be compared to the image sensor of the RGB camera to merge or overlap with the RGB camera. there will be In this case, the resolution for depth information is reduced.

For example, the region 351 of the RGB camera image sensor has a higher-resolution image than the region 551 of the image sensor of the distance measuring device.

This difference in the ratio of the amount of light per pixel causes a difference in resolution, and may be processed by merging or comparing the data of the RBG camera image sensor and the data of the image sensor of the distance measuring device according to a preset standard. When the measured data is corrected and processed, an optical device such as an optical expander is not required in the second receiver image sensor 550 of the distance measuring device.

According to another embodiment, the light reaching the image sensor may be adjusted in advance without merging or comparing the measured data by correcting and processing the data.

By additionally installing a telephoto lens or an optical expansion device that can change the path of light in the second receiver image sensor 550 of the distance measuring device, the light reaches the entire area of the second receiver image sensor 550 of the distance measuring device can do it

15 is a flowchart illustrating a method of synchronizing an angle of view of a distance measuring device.

Referring to FIG. 15 , the method of synchronizing the angle of view of the distance measuring device may include an RGB camera angle of view confirmation step ( S1100 ), a Tx angle of view adjustment step ( S1200 ), and an Rx signal control step ( S1300 ).

According to an embodiment, the distance measuring device 400 may include a light source unit 410 including one or more light source elements and a light diffusion device through which light emitted from the light source unit passes.

As a method of synchronizing the field of view of the distance measuring device 400, the step of checking the field of view (FOV, Field Of View) of the RGB (Red, Green Blue) camera 300 and setting the field of view of the distance measuring device to RGB according to a set standard It may include adjusting the angle of view to correspond to the angle of view of the camera 300 .

In addition, the method may further include controlling the receiver signal based on a current generated in the process of adjusting the distance measuring device 400 to correspond to the angle of view of the RGB camera 300 . If it is based on the current generated in this process, it is evaluated as a meaningful reference value in that it can provide an accurate reference for the distance measuring device and RGB synchronization.

According to an embodiment, the field of view (FOV) of the distance measuring device 400 may be adjusted to correspond to the field of view (FOV) of the RGB camera 300 , and a relative movement process between the optical diffusing devices of the distance measuring device 400 . Synchronization between the Tx and RGB cameras can be performed based on the current generated in .

If necessary, it is possible to verify and calibrate the accuracy of the angle of view (FOV) adjustment based on the current generated during the relative movement of the distance measuring device.

Illustratively, the relative movement of the distance measuring device controls the relative distance of the first expanding device “G” and the second diffusing device, and may be driven by a current generated by a VCM (Voice Coil Motor) motor.

According to an embodiment, the RGB camera 300 may include a telephoto lens 320, and an angle of view may be adjusted by the telephoto lens.

The light diffuser may be referred to as a diffuser if necessary.

According to an embodiment, the light diffusion device may include a first diffusion unit and a second diffusion unit. The first diffuser may require a body to pass the light emitted from the light source unit, be connected to the first support, and surround the first diffuser.

The body part may include a coil, a piezoelectric element, or a rotating device, and the first diffusion part may interact with the body part to generate a movement in the optical path direction or in a direction perpendicular to the optical path. The first diffuser includes a magnet or a metallic material, and the radiation angle or direction of light can be adjusted by movement caused by the interaction between the first diffuser and the body.

According to an embodiment, the light source unit may receive a control signal and individually adjust the output of the light source element,

In addition, the method may further include measuring a current or voltage generated by the interaction between the first diffusion unit and the body unit. Based on the current or voltage, it is possible to accurately control the second receiver of the distance measuring device.

According to an embodiment, the RGB camera may include a first transmitter and a first receiver, and the distance measuring device may include a second transmitter and a second receiver. By further comprising the step of comparing the signal of the first receiver of the RGB camera with the signal of the second receiver of the distance measuring device, it is possible to more precisely and accurately synchronize the angle of view of the distance measuring device 400 .

In addition, the method may further include selecting only a signal of a partial region of the second receiving unit of the distance measuring device 400 . The resolution of the image can be increased or the noise can be reduced by processing the signal in some area.

According to an embodiment, the second receiving unit of the distance measuring device 400 may further include an optical device, and the optical device may control an area, intensity, distribution, etc. of the light reaching the second receiving unit. The type of the optical device is not limited as long as it can transmit or reflect light.

1: light
10: light source unit
12: light source element
20: first diffuser
30: second diffusion unit
32: second region of the second diffusion unit
34: first area of the second diffusion unit
40: cover
50: support
60: control unit
70: body part
80: coil
90: magnet
100: distance measuring device
101: light
110: light source unit
112: light source element
130: diffuser
140: cover
160: control unit
170: body part
180: coil
190: magnet
200: distance measuring device
300: RGB camera
302: first angle of view
304: second angle of view
310: first transmitter
320: telephoto lens
350: image sensor
351: image sensor area
360: object
400: distance measuring device
402: first angle of view
404: second angle of view
410: light source unit
420: second diffusion device
430: first diffusion device
500: second receiver of the distance measuring device
501: light non-reaching area
503: light arrival area
520: optical device
550: image sensor
551: image sensor area
600: control device
1000: How to synchronize the angle of view of the distance measuring device
S1100: RGB camera angle of view check step
S1200: adjusting the angle of view of the second transmitter of the distance measuring device
S1300: second receiver signal control step of the distance measuring device

Claims (17)

a light source unit including one or more light source elements arranged in an independent area to output light, the intensity of light transmitted from the light source element being adjustable; and
and a light diffusing device through which the light emitted from the light source passes and the field of view (FOV) of the light is adjusted to correspond to the field of view of the RGB camera according to a set standard. According to claim 1,
A distance measuring device for controlling a signal of a receiver inside the distance measuring device based on a current generated in the process of adjusting the angle of view of the distance measuring device to correspond to the angle of view of the RGB camera. According to claim 1,
The RGB camera further comprises a telephoto lens, distance measuring device. According to claim 1,
The light diffusion device includes a first diffusion unit and a second diffusion unit,
The first diffusion unit passes the light emitted from the light source unit, and is connected to the first support;
Consists of a main body surrounding the first diffusion,
The main body includes a coil, a piezoelectric element, or a rotating device,
The first diffuser comprises a magnet or a metallic material capable of interacting with the main body to generate movement in the direction of the light path, or in a direction perpendicular or horizontal to the light path,
It is possible to adjust the radiation angle or direction of the light by the movement generated by the interaction of the first diffusion part and the body part,
The light source unit receives a control signal and individually adjusts the output of the light source element, a distance measuring device. 5. The method of claim 4,
A distance measuring device for controlling an angle of view by measuring a current or voltage generated from the interaction between the first diffusion unit and the body unit. According to claim 1,
A distance measuring device further comprising a control device. 7. The method of claim 6,
The control device controls a signal of an RGB camera or a distance measuring device, a distance measuring device. 7. The method of claim 6,
The control device calculates the angle of view of the RGB camera to control the movement of the light diffusing device, the distance measuring device. According to claim 1,
A distance measuring device further comprising a receiver. 8. The method of claim 7,
A distance measuring device that compares the signal of the receiver of the RGB camera with the signal of the receiver of the distance measuring device to adjust the angle of view. 10. The method of claim 9,
A distance measuring device for controlling an angle of view by selecting only a signal of a partial region of the receiver. 10. The method of claim 9,
The receiving unit further comprises an optical device, a distance measuring device. 9. The method of claim 8,
A distance measuring device for controlling an angle of view by comparing a depth signal of a receiving unit region of the distance measuring device with color image data of the RGB camera receiving unit. 14. The method of claim 13,
A distance measuring device for controlling an angle of view by processing the depth signal of the receiver region according to a set standard. a light source unit including one or more light source elements; and
and a light diffusion device through which light emitted from the light source unit passes;
The light diffusion device is divided into one or more regions,
The light source element of the light source unit is arranged to have an independent area,
In the distance measuring device, the intensity of the light transmitted from the light source element is adjustable,
checking the field of view (FOV) of the RGB (Red, Green Blue) camera; and
and adjusting the angle of view of the distance measuring device to correspond to the angle of view of the RGB camera according to a set standard. 16. The method of claim 15,
The method for synchronizing an angle of view of a distance measuring device further comprising controlling a signal of a receiver based on a current generated in the process of adjusting the distance measuring device to correspond to the angle of view of the RGB camera. 17. The method of claim 16,
The light diffusion device includes a first diffusion unit and a second diffusion unit,
The first diffusion unit passes the light emitted from the light source unit, and is connected to the first support;
Consists of a main body surrounding the first diffusion,
The body part includes a coil or a piezoelectric element,
The first diffusion unit includes a magnet or a metallic material that can interact with the body portion to generate a movement in the direction of the light path or perpendicular to the light path,
It is possible to adjust the radiation angle or direction of the light by the movement generated by the interaction of the first diffusion part and the body part,
The light source unit receives a control signal and individually adjusts the output of the light source element, the angle of view synchronization method of the distance measuring device.

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