KR20220037922A - 3d image acquisition device - Google Patents

Abstract

The present invention relates to a 3D image acquisition device. The 3D image acquisition device includes a VCSEL-based light emitting module that emits surface light from the inside of a main housing, a beam splitter, a TOF receiving sensor, and an RGB image sensor that can detect a color image. So, it can measure the 3D spatial structure of a target such as surrounding terrain and a subject with a simple motion.

Description

3D image acquisition device {3D IMAGE ACQUISITION DEVICE}

The present invention relates to a three-dimensional image acquisition apparatus, and more particularly, to a three-dimensional image acquisition apparatus capable of acquiring an image of a target, such as a surrounding terrain and a subject, and measuring a three-dimensional spatial structure thereby.

As a conventional 3D image acquisition device, the same method as passive stereo vision, which uses two cameras to obtain distance information from the corresponding pixel of the target object, and active stereo vision, in which one camera of this stereo vision is replaced with a projector, is applied. there is. However, passive stereo vision has the advantage of high speed, but has limitations in obtaining accurate 3D images because it is seriously affected by a monotonous environment or ambient lighting. Also, active stereo vision using visible light-based structural light Vision provides a somewhat improved three-dimensional image, but due to the visible light pattern, when used in household robots, etc., it can be unobtrusive to the human eye.

Accordingly, in recent years, as a TOF (Time Of Flight) method, the distance or depth between the camera and the recognition object is measured by irradiating light to the object to be recognized and using the temporal difference between the emission time and the receiving time of the light reflected from the object to be recognized. A method of measuring and obtaining a 3D image is provided.

In addition, as a conventional technique for obtaining a three-dimensional image, an infrared flash type active three-dimensional distance image measuring apparatus is known in Korean Patent Laid-Open Publication No. 10-2005-0026949 (March 16, 2005). Accordingly, the technology relates to a three-dimensional distance image measuring device using a flash type infrared light source and using a DMD (Digital Micromirror Device) device to perform real-time distance measurement using various light irradiation patterns, and in the present invention A TOF that receives the laser light of the received pulse pattern and measures the phase difference according to the time timing using a VICSEL module (VCSEL), which is modularized in an array form and emits laser light in a pulse pattern at regular intervals, and a beam splitter. It is different from a 3D image acquisition device that can measure a 3D spatial structure by combining a reception method and a color image image.

The present invention was derived to solve the problems of the prior art described above, and its purpose is a VCSEL (VCSEL) module that emits a laser in a pulse pattern from the inside of the main housing as surface emission, and a beam splitter that separates and refracts infrared and visible light. And by providing a device having a structure having a TOF receiving sensor and an image image sensor, while measuring depth information of the TOF method, a three-dimensional (3D) spatial structure of a target can be measured more precisely by additionally combining a general color image An object of the present invention is to provide an image acquisition device.

Another object of the present invention is to provide a three-dimensional image acquisition device capable of outputting an obtained image of a three-dimensional spatial structure to a smart phone or a computing device that is linked through a network.

A three-dimensional image acquisition device according to an aspect of the present invention for solving the above technical problem is mounted on a main housing, an inner upper portion of the main housing to control the timing of transmission and reception of light, and transmit the sensed signal to an external device A control substrate for performing the function and a light transmission/reception unit coupled to the control substrate for transmission of infrared laser and reception of incident external light are disposed. A Bixel module that emits laser as surface light emission, a beam splitter configured to horizontally transmit infrared rays reflected back to a target and refract incident visible light vertically, and receive infrared rays transmitted through the beam splitter to the rear end of the infrared region A TOF receiving sensor that generates a structural image in the beam splitter, an image sensor that receives visible light refracted to the lower part of the beam splitter to generate a color image of a target, and at least two or more lens elements at the front end of the beam splitter It may be characterized in that it is provided with an optical lens system.

In addition, the optical lens system of the present invention may be formed of a lens assembly of a certain shape so as to control the light with respect to the direction of the incident light for each lens element.

In addition, in the optical lens system of the present invention, the refractive index may be adjusted so that the image is clearly formed at the position of the focal point focused on the TOF receiving sensor and the image sensor.

A three-dimensional image acquisition device according to another aspect of the present invention for solving the above technical problem is a main housing that emits pulsed laser light to the outside on one side and a light-transmitting window for transmitting light coming from the outside is disposed, the main housing A control substrate coupled and mounted from the bottom of the inside and an optical transceiving unit coupled to the upper portion of the control substrate for emitting infrared laser and receiving incident external light are disposed, and the optical transceiving unit includes a plurality of dot arrays. A Bixel module that is modularized in the form of a pulse pattern and emits surface light emission of an infrared laser beam, a beam splitter configured to horizontally transmit an infrared laser reflected back from a target and refract incident visible light vertically, and the rear end of the beam splitter A TOF receiving sensor for generating a structural image in the infrared region by receiving the infrared laser transmitted through It may be characterized in that it comprises a camera module including a lens driving unit for enabling focus adjustment by moving forward and backward in the direction and an image sensor for generating a color image of a target.

In addition, in the light transmitting/receiving unit of the present invention, a front lens positioned in the window direction is disposed, and a filter lens for emitting the infrared laser emitted from the vixel module in a part of the front lens to the outside is a constant of the front lens. It has a structure that is inserted at the position or is characterized by being additionally mounted on the outside.

In addition, the filter lens of the present invention is characterized in that it is a bandpass filter for passing only the wavelength used in the infrared laser light source of the vixel module.

In addition, the control board of the present invention includes a control module for controlling the sending and receiving operations of the laser in conjunction with the big cell module, the TOF receiving sensor and the camera module, the structural image of the target received by the TOF receiving sensor, and the image sensor It has a feature of including a 3D image processing module for measuring the three-dimensional spatial structure of the target by combining the color image data of the target received from the.

In addition, the 3D image processing module of the present invention calculates the depth information of the infrared structure image, compares the contrast of the texture component with the RGB color image, and uses an algorithm to select an image value with high image clarity in a three-dimensional space There is a characteristic that measures the structure.

In addition, the control board of the present invention is characterized in that it further includes a communication module that provides a WiFi or LAN connection method for the control module to communicate with an external device.

In addition, a three-dimensional image acquisition device according to another aspect of the present invention for solving the above technical problem is a main housing in which a light-transmitting window is disposed for emitting pulsed laser light to the outside on one side and transmitting light coming from the outside; It is coupled and mounted at the lower end of the main body housing to control the timing of transmission and reception of light, and a control board for transmitting a sensed signal to an external device and an external coupled to the upper portion of the control board to emit and incident infrared laser light A light transmitting/receiving unit for receiving light is disposed, and the light transmitting/receiving unit is modularized in the form of a plurality of dot arrays to emit a pulse pattern infrared laser as a surface light emission module, and the infrared laser reflected back to the target is A beam splitter that transmits horizontally and refracts incident visible light vertically, a TOF receiving sensor that receives the infrared laser transmitted through the beam splitter to generate a structural image in the infrared region, and refracts downward of the beam splitter and an image sensor for generating a color image of the target by receiving visible light, wherein the control board combines the structural image of the target received by the TOF receiving sensor and the color image data of the target received by the image sensor. It may be characterized in that it comprises a 3D image processing module for measuring the three-dimensional spatial structure of the target.

According to the characteristic configuration of the three-dimensional image acquisition device described above, the present invention further includes an image sensor capable of detecting a color image while measuring distance and depth information on a subject in a TOF method to increase the resolution of information and to perform a simple operation It has the effect of being able to measure the precise three-dimensional spatial structure of the target such as the surrounding terrain and the subject.

In addition, since information data such as the spatial structure and surrounding topography of the target sensed by the three-dimensional image acquisition device of the present invention can be transmitted to an external device, there is an advantage in that the data can be reprocessed over a network.

In addition, the three-dimensional image acquisition device of the present invention includes a front-end lens on the optical path, and can perform the function of an optical lens for light reception even as a single lens, and a lens of a certain type for controlling incident light By providing an optical lens system as a lens assembly in which elements are complexly combined, there is an effect of improving optical performance on an optical path and enabling a miniaturized design of a product.

In addition, the three-dimensional image acquisition apparatus of the present invention can be generally applied to improve the performance of a vehicle's lidar device, and can also be applied to a mobile device that can move, such as a robot, a ship, a helicopter, a drone, and a building. There is an advantage that can be applied without limitation to fixed devices with limited movement such as , pillars, towers, etc.

1 is an external perspective view showing a body housing of a three-dimensional image acquisition device according to an embodiment of the present invention;
Figure 2 is an exemplary view showing the internal structure of the three-dimensional image acquisition device according to Figure 1,
3A is an exemplary diagram showing the structure of an optical transmission/reception unit according to an embodiment of the present invention;
3B is an exemplary diagram illustrating a plate-shaped beam splitter in the structure of the optical transceiving unit of FIG. 3A according to another embodiment of the present invention.
4 is a block diagram showing the configuration of a three-dimensional image acquisition device according to the present invention.
5A is a diagram illustrating surface emission of a three-dimensional image acquisition device having a rectangular box shape according to an embodiment of the present invention.
5B is a diagram illustrating surface emission of a cylindrical 3D image acquisition device according to another embodiment of the present invention.
6 is an exemplary diagram for explaining the structure and path of the entire optical transmission/reception unit in the optical transmission/reception unit according to an embodiment of the present invention.
7 is an exemplary diagram for explaining the structure of an optical transmission/reception unit and an optical transmission/reception path according to another embodiment of the present invention.
8 is a diagram illustrating surface emission of a three-dimensional image acquisition device equipped with an optical lens system.
9 is an exemplary view showing an internal structure of the 3D image acquisition device according to FIG. 8 .
FIG. 10 is an exemplary diagram for explaining a light transmission/reception path of the 3D image acquisition device provided with the optical lens system according to FIG. 8 .

The terms or words used in the present specification and claims should not be construed as being limited to their ordinary or dictionary meanings, and the inventor may properly define the concept of the term in order to best describe his invention. Based on the principle that there is, it should be interpreted as meaning and concept consistent with the technical idea of the present invention.

Therefore, the configuration shown in the embodiments and drawings described in this specification is only the most preferred embodiment of the present invention and does not represent all of the technical idea of the present invention, so various equivalents that can be substituted for them at the time of the present application It should be understood that there may be water and variations.

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

1 is an external perspective view showing a body housing of a three-dimensional image acquisition device according to an embodiment of the present invention.

As shown in FIG. 1 , the three-dimensional image acquisition device of the present invention emits a surface-emission pulsed laser light from one side of the main housing 100 and the main housing 100 having an enclosed inner space to the outside and enters from the outside. A window 110 that facilitates light transmission is disposed. The window 110 may be formed of a light-transmitting member for facilitating light transmission to and from the 3D image acquisition device and protecting the body housing 100 .

Accordingly, the main housing 100 of the present invention may be formed in a rectangular box shape of a certain height as shown in FIG. 1 , but is not limited thereto, and may also be applied to a housing having a cylindrical shape as shown in FIG. 5B .

In addition, FIG. 2 is an exemplary view showing the internal structure of the 3D image acquisition device according to FIG. 1 , FIG. 3A is an exemplary view showing the structure of an optical transmitting/receiving unit according to an embodiment of the present invention, and FIG. 3B is the present invention It is an exemplary view showing a plate-shaped beam splitter in the structure of the optical transmission/reception unit of FIG. 3A according to another embodiment of the present invention, and FIG. 4 is a block diagram showing the configuration of a three-dimensional image acquisition device according to an embodiment of the present invention.

As shown in the figure, the three-dimensional image acquisition device of the present invention includes a control board 300 that is coupled and mounted at the lower end of the inside of the main housing 100 , and optical transmission and reception for transmitting and receiving light from the upper portion of the control board 300 . The unit 200 is arranged and the optical transmission/reception unit 200 includes a front lens 210 , a vixel module 220 , a beam splitter 240 , a TOF reception sensor 230 , and a camera module 250 . is done by

In addition, the optical transmission/reception unit 200 is formed to be protected in a form wrapped by the unit case 201 , and thus the front end of the unit case 201 has a front surface positioned in the direction of the window 110 of the main housing 100 . A lens 210 is positioned, and at the rear end of the front lens 210, a beam splitter 240 that separates and refracts light incident from the outside into wavelength bands of infrared and visible light is provided, and the beam splitter ( A TOF receiving sensor 230 for detecting an infrared wavelength band is provided at the rear end of the horizontal direction of 240).

The beam splitter 240 of the present invention is formed in the form of a triangular prism as in FIG. 3A to form an incident surface and an exit surface, or an oblique incident surface of a certain inclination using a plate-type beam splitter as shown in FIG. 3B . and the exit surface can be realized.

In addition, in order to receive light in a visible light wavelength band that the beam splitter 240 refracts vertically downward, a camera lens 251 and the camera lens 251 are formed under the beam splitter 240 with a plurality of lens elements. An image sensor 253 for detecting an RGB optical signal of a visible light wavelength band incident to the camera lens 251 from the lens driving unit 252 and the lens driving unit 252 under the lens driving unit 252 to enable focus adjustment by moving forward and backward in the optical axis direction. ) is provided with a camera module 250 made of.

However, as another embodiment of the present invention, the beam splitter 240 is lower than the image sensor 253 except for the camera lens 251 and the lens driving unit 252 in the camera module 250 as shown in FIG. 7 to be described later. It is also possible to obtain a color image of the target by directly positioning it with

In this case, the image sensor 253 in the present invention may be a complementary metal-oxide-semiconductor (CMOS) type RGB image sensor supporting a certain frame (eg 30 fps) and a predetermined resolution (eg, 1280 x 720). there is.

In addition, the unit case 201 of the present invention forms a space for assembling and mounting certain components of the optical transmission/reception unit 200, and as a protective case in which certain components are assembled and coupled to the inside, the light emitted from the inside and As having a sealed structure so that light incident from the outside does not leak out, the front lens 210 , the vixel module 220 , the beam splitter 240 , the TOF receiving sensor 230 and the camera of the camera module 250 . The lens 251 is made to be protected in a form wrapped by the unit case 201 .

At this time, the VICSEL module 220 is a module in which a Vertical-Cavity Surface Emitting Laser (VCSEL) is modularized in the form of a plurality of dot arrays to emit a laser of a fast pulse pattern as a surface light emission module. , is mounted on the upper end of the unit case 201 at the rear end of the front lens 210 at a certain distance and is located. At this time, the big cell module 220 emits while blinking a near-infrared wavelength band of about 940 nm.

In addition, as shown in FIGS. 2 to 4 , the vixel module 220 emits surface-emitted laser light in a pulse pattern to the outside through a part of the front lens 210 at the front end, and thus the vixel module 220 A part of the front lens 210 positioned on the front side of may be provided as a filter lens 211 for radiating the light emitted from the vixel module 220 to the outside.

In this case, the filter lens 211 may be a lens that functions as a bandpass filter for passing only the wavelength used for the laser light source of the vixel module 220 .

That is, the front lens 210 provided in the unit case 201 as a whole performs the function of an optical lens for receiving light, but a filter lens for transmitting light in a certain portion positioned at the front end of the vixel module 220 . The 211 is configured to be inserted at a predetermined position of the front lens 210 or to have a configuration that is additionally mounted on the outside.

Accordingly, FIG. 5A is a diagram illustrating the surface emission of a three-dimensional image acquisition device in the form of a square box according to an embodiment of the present invention, and FIG. As a diagram illustrating surface light emission, in the present invention, light emitted from the vixel module 220 inside the main body housings 100 and 100a passes through the filter lens 211 held at one end of the front lens 210 and passes through the main body. It can be seen that a specific portion of the windows 110 and 110b is radiated to the outside and can be irradiated with surface light emission.

In addition, a modulation 221 is provided for flickering at very fast intervals when the VCSEL of the vixel module 220 emits light, and the period while the laser of the vixel module 220 is on is called in phase. The period while the laser is off is called out phase, and the TOF receiving sensor 230 synchronizes the reflected light with the blinking interval of the modulation 221 as each cell is composed of two pairs of sensors. It can be said to be an infrared image sensor for measuring the phase difference according to time timing by being precisely synchronized with the emitted light pulse.

That is, a general infrared (IR) sensor measures only the signal strength and is easily affected by the reflectivity of an object, but the TOF receiving sensor receives the infrared laser emitted from the VCSEL and calculates the time-of-flight distance accordingly. can

The TOF receiving sensor 230 in the present invention may provide resolution data of a certain resolution (for example, VGA 640x480) at a speed of a certain pixel pitch (for example, 15 μ constant frame (for example, up to 150 frames per second)). .

In addition, when the signal from the TOF receiving sensor 230 is an analog signal, it is converted into a digital signal by an A/D converter (ADC, Analog to Digital Converter) 223 and transmitted to the 3D image processing module 320. there is.

As shown in FIG. 4 , the control board 300 of the present invention includes an image sensor for controlling light transmission and receiving a visible light region for applying a driving signal for fast blinking of the pulsed laser (VCSEL) of the vixel module 220 ( 253), the control module 310 for controlling the camera module 250, the TOF receiving sensor 230 and the image sensor 253 in conjunction with the image of the target such as the surrounding terrain and subject and a 3D image processing module 320 for receiving data, combining them, and measuring a three-dimensional spatial structure of the target.

That is, the 3D image processing module 320 receives image data of the target and performs a pre-processing process to remove noise, and the depth of the distorted structure image in the infrared region of the target received by the TOF receiving sensor 230 An algorithm process for merging the two images is performed by calculating information and selecting an image value with high image sharpness by comparing the contrast of the texture component with the color image received from the image sensor 253 . Through the combined image through the algorithm, it is possible to precisely measure the three-dimensional spatial structure of the target.

To this end, the control board 300 may be implemented as at least one device selected from a logic circuit, a programming logic controller, a microcomputer, a microprocessor, etc., and may be implemented as an FPGA (Field-Programmable Logic Array) board encompassing them.

In addition, the control board 300 may be configured with a separate communication module 330 for a communication connection means for wireless WiFi or wired LAN (Local Area Network) connection, or may be integrally combined with each other. The communication module 330 communicates with an external user PC or a user mobile device such as a smart phone through an intranet, the Internet, a vehicle network, etc. can be sent to This is to provide the convenience of reprocessing data that is converted into a digital image in a user computing device that is linked in an external network such as the Internet.

On the other hand, the control board 300 may include a wiring, an adapter, or a power supply means for supplying power to the three-dimensional image acquisition device of the present invention, and the power supply means may be provided as an internal power source or a rechargeable power supply device. there is.

6 is an exemplary view for explaining the structure and path of the overall optical transmission/reception unit in the optical transmission/reception unit according to an embodiment of the present invention. 211), the infrared and visible light reflected from the target are separated by the beam splitter 240, and the TOF receiving sensor 230 that receives the infrared rays is projected in the form of a large amount of Dot laser. It shows that a distorted structure image is generated by the method, and in addition, the focus is adjusted through the camera lens 251 and the lens driver 252 of the camera module 250 and the image sensor 253 that receives the visible light receives the color of the target. It shows that an image is being created.

In addition, FIG. 7 is an exemplary view for explaining the structure of the optical transmission/reception unit and the optical transmission/reception path according to another embodiment of the present invention, and the difference from FIG. 6 is the camera lens 251 and the lens driving unit of the camera module 250 It shows that a color image of a target can be generated by directly receiving visible light from the image sensor 253 without going through the focus adjustment process by 252 . As shown in FIG. 7, by directly receiving visible light from the image sensor 253, the camera lens 251 and the lens driving unit 252 of the camera module 250 are not applied, thereby minimizing the number of electronic circuits to reduce the volume and There is an advantage that the cost can be reduced.

In addition, FIGS. 8 to 10 show a three-dimensional image acquisition device comprising an optical lens system 260 in front of a beam splitter 240 on an optical path as another embodiment of the present invention.

Accordingly, FIG. 8 is a view exemplifying the surface emission of a 3D image acquisition device having an optical lens system at the front end of the beam splitter, and FIG. 9 is an exemplary view showing the internal structure of the 3D image acquisition device according to FIG. 10 is an exemplary diagram for explaining an optical transmission/reception path of a 3D image acquisition device equipped with an optical lens system.

8 to 10, in the structure of the optical transmission/reception unit of the present invention, as in the above-described embodiment, the front lens ( 210) instead of two or more, at least two or more lenses that perform a complex function are configured as elements to provide a front lens as the optical lens system 260 .

That is, even a single lens can perform the function of an optical lens for receiving light, but in order to control incident light, the optical lens assembly is a certain type of lens assembly that controls light in each direction for each lens element. By providing the lens system 260 , it is possible to improve the optical performance on the optical path and to design a miniaturized product.

In general, the light incident angle of a nearby subject becomes larger with respect to the optical axis, and the more distant the subject, the closer the incident angle to the optical axis becomes horizontal, so that the focus on the TOF receiving sensor 230 and the image sensor 253 may be different. Due to the configuration of the optical lens system 260 mounted as in the invention, the refractive index of the passing light is adjusted according to the position of the subject, so that the image is clearly formed at the focal point of the TOF receiving sensor 230 and the image sensor 253 it can be done

According to this embodiment, the 3D image acquisition device includes the vixell module 220 and the vixell lens 211 inside the unit case 201 so that the light emitted from the vixel module 220 can be directly irradiated as shown in FIGS. 9 to 10 . It can be installed and positioned on the top. In this case, the big cell module 220 may be connected to the control board 300 at the top inside the unit case 201 .

That is, in the present embodiment described with reference to FIG. 10, the infrared light emitted from the vixel module 220 that emits infrared light according to the structure of the light transmitting/receiving unit passes through the vixell lens 211 and is irradiated to the target, and at the target. The reflected and incident light passes through the optical lens system 260, and infrared and visible light are separated by the beam splitter 240, and the TOF receiving sensor 230 and the image sensor 253 located on each path are different from the target. will come out clearly.

At this time, the TOF receiving sensor 230 that receives the infrared generates a distorted structure image by the form of a large amount of projected Dot laser, and the image sensor 253 that receives the visible light can generate a color image of the target.

As described above, the three-dimensional image acquisition apparatus of the present invention may be formed by combining the configurations through various embodiments into one, or may be made by selectively using each configuration according to the preferred embodiment. That is, it will be understood that the present invention can be variously modified and changed by a person skilled in the art of the present invention without departing from the spirit and scope of the following claims.

100: body housing 110: window
200: optical transmission/reception unit 201: unit case
210: front lens 211: filter lens
220: big cell module 221: modulation
223: A/D converter 230: TOF receiving sensor
240: beam splitter 250: camera module
251: camera lens 252: lens driving unit
253: image sensor 260: optical lens system
300: control board 310: control module
320: 3D image processing module 330: communication module

Claims (14)

A three-dimensional image acquisition device comprising:
body housing,
a control board mounted on the inner upper part of the main housing to control the timing of light transmission and reception, and to transmit the sensed signal to an external device; and
A light transmitting/receiving unit coupled to the control board for transmitting an infrared laser and receiving incident external light is disposed,
The optical transceiver unit
A big cell module that is modularized in the form of a plurality of dot arrays and emits an infrared laser of a pulse pattern as surface light emission;
A beam splitter configured to horizontally transmit infrared rays reflected back to the target and refract incident visible light vertically;
a TOF receiving sensor that receives the infrared rays transmitted through the beam splitter and generates a structural image in the infrared region;
an image sensor for generating a color image of a target by receiving visible light refracted to a lower portion of the beam splitter; and
and an optical lens system including at least two lens elements at the front end of the beam splitter. The method according to claim 1,
The optical lens system is a three-dimensional image acquisition device, characterized in that consisting of a lens assembly of a certain shape to adjust the incident light for each lens element. 3. The method according to claim 2,
The optical lens system is a three-dimensional image acquisition device, characterized in that the refractive index can be adjusted so that the image of the target is clearly formed at the position of the focus on the TOF receiving sensor and the image sensor. The method according to claim 1,
The control board comprises a 3D image processing module for measuring the three-dimensional spatial structure of the target by combining the structural image of the target received by the TOF receiving sensor and the color image data of the target received by the image sensor. 3D image acquisition device. A body housing that emits pulsed laser light to the outside on one side and has a light-transmitting window for transmitting light coming from the outside;
a control board mounted at the lower end of the main body housing to control the transmission and reception timing of light, and to transmit the sensed signal to an external device; and
A light transmitting/receiving unit coupled to the upper portion of the control board to transmit infrared laser light and receive incident external light is disposed,
The optical transceiver unit
A big cell module that is modularized in the form of a plurality of dot arrays and emits an infrared laser of a pulse pattern as surface light emission;
A beam splitter configured to horizontally transmit the infrared laser reflected back from the target and refract the incident visible light vertically;
a TOF receiving sensor that receives the infrared laser transmitted through the beam splitter to generate a structural image in the infrared region; and
and an image sensor for generating a color image of a target by receiving visible light refracted to a lower portion of the beam splitter. 6. The method of claim 5,
The optical transmission/reception unit has a structure in which a front lens positioned in the window direction is disposed, and a filter lens for emitting the infrared laser emitted from the vixel module in a portion of the front lens to the outside is inserted at a predetermined position of the front lens Or a three-dimensional image acquisition device, characterized in that it is additionally mounted on the outside. 7. The method of claim 6,
The filter lens is a three-dimensional image acquisition device, characterized in that the band-pass filter for passing only the wavelength used in the infrared laser light source of the big cell module. 6. The method of claim 5,
The control board comprises a 3D image processing module for measuring the three-dimensional spatial structure of the target by combining the structural image of the target received by the TOF receiving sensor and the color image data of the target received by the image sensor. 3D image acquisition device. A body housing that emits pulsed laser light to the outside on one side and has a light-transmitting window for transmitting light coming from the outside;
a control board coupled to and mounted at the lower end inside the body housing; and
A light transmitting/receiving unit coupled to the upper portion of the control board to transmit infrared laser and receive incident external light is disposed,
The optical transceiver unit
A big cell module that is modularized in the form of a plurality of dot arrays and emits an infrared laser of a pulse pattern as surface light emission;
A beam splitter configured to horizontally transmit the infrared laser reflected back from the target and refract the incident visible light vertically;
a TOF receiving sensor that receives the infrared laser transmitted through the beam splitter to generate a structural image in the infrared region; and
In order to receive the visible light refracted to the lower part of the beam splitter, a camera lens composed of a plurality of lens elements and a lens driver that enables focus adjustment by moving the camera lens forward and backward in the optical axis direction and an image generating a color image of the target A three-dimensional image acquisition device comprising a camera module including a sensor. 10. The method of claim 9,
The optical transmission/reception unit has a structure in which a front lens positioned in the window direction is disposed, and a filter lens for emitting the infrared laser emitted from the vixel module in a portion of the front lens to the outside is inserted at a predetermined position of the front lens Or a three-dimensional image acquisition device, characterized in that it is additionally mounted on the outside. 11. The method of claim 10,
The filter lens is a three-dimensional image acquisition device, characterized in that the band-pass filter for passing only the wavelength used in the infrared laser light source of the big cell module. 10. The method of claim 9,
The control board is
A control module for controlling the laser transmission and reception operation in conjunction with the Big Cell module, the TOF receiving sensor and the camera module, and the structural image of the target received by the TOF receiving sensor and the color image data of the target received by the image sensor 3D image acquisition device comprising a 3D image processing module for measuring the 3D spatial structure of the target by combining the 3D image processing module. 13. The method of claim 12,
The 3D image processing module calculates the depth information of the infrared structure image, compares the contrast of the texture component with the RGB color image, and measures the three-dimensional spatial structure using an algorithm that selects an image value with high image clarity. A three-dimensional image acquisition device, characterized in that. 13. The method of claim 12,
The control board further comprises a communication module for providing a WiFi or LAN connection method for the control module to communicate with an external device.

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