WO2017073982A1

WO2017073982A1 - Three-dimensional scanning system

Info

Publication number: WO2017073982A1
Application number: PCT/KR2016/012015
Authority: WO
Inventors: 백승호; 서형근; 조국; 박병윤
Original assignee: 한국생산기술연구원
Priority date: 2015-10-30
Filing date: 2016-10-25
Publication date: 2017-05-04

Abstract

The present invention relates to a three-dimensional scanning system capable of obtaining a high-level image signal by increasing the density of light received per unit scanning pixel while using a low output light source by reducing the output of a light source of a light receiving module as a multi-point output light in the form of a dotted line and not of a solid line is emitted and reflected light reflected from a target is detected by means of a light receiving module, which is an optical detector in the form of a line array, to thereby form a three-dimensional cloud data image. To this end, the three-dimensional scanning system according to the present invention comprises: a light transmission module including a light splitting part for splitting a single point incident light into multi-point output light and an optical scanning part for scanning the multi-point output light split by the light splitting part into a predetermined viewing angle; a light receiving module for receiving reflected light reflected from a target after being emitted from the optical transmission module; and a controller for generating an image of the target on the basis of the reflected light received by the light receiving module.

Description

3D scanning system

The present invention relates to a three-dimensional scanning system using a pulsed laser light, and more particularly, a scanning mechanism or a curved surface or planar mirror having a structure in which the curved surface or planar mirror quickly resonates at a predetermined angle. Using a scanning mechanism that rotates quickly in one direction, the transmission and reception optical system is configured so that the optical axis of the output light emitted from the optical transmission module and the optical axis of the reflected light received by the optical reception module coincide with each other. The arrangement of the optical transmission module and the optical reception module for scanning has the advantage that the device configuration can be compactly implemented, thereby significantly reducing the overall weight of the device and enabling three-dimensional scanning to realize a fast three-dimensional image acquisition speed. It's about the system.

The three-dimensional image sensor, called LIDAR (Light Detection And Ranging) or Radar (LADAR-Laser Detection And Ranging), emits pulsed laser light toward the target and then returns the light energy that is reflected back to the target. The system can calculate distances to targets and moving speeds of targets by capturing them and converting them into electrical signals.

Such lidar systems are widely applied in various fields such as sensors for detecting obstacles in front of robots and unmanned vehicles, radar guns for speed measurement, aviation geo-mapping devices, three-dimensional ground surveys, and underwater scanning.

Recently, the lidar system is a driving assistance application that allows the driver to automatically warn the driver or to automatically adjust the speed of the vehicle in the event of a dangerous situation, such as an obstacle in front or side, or a tractor without a driver. The field of application is expanding with automatic driving devices.

As an example of the lidar system as described above, the 'three-dimensional scanning system and a three-dimensional image acquisition method using the same' has been disclosed in the registered patent No. 10-1357051 filed by the applicant.

The three-dimensional scanning system is a scanning system for obtaining a three-dimensional image by calculating the distance of the target by receiving the reflected light reflected from the target after emitting the pulsed light, the light source device for generating pulsed laser light, and the pulsed laser A light transmitting and receiving means comprising a light transmitting and receiving module for emitting light and receiving reflected light of the emitted pulsed laser light, a rotating driving device for rotating and driving the optical transmitting and receiving means, and controlling the light source device, the optical transmitting and receiving means and the rotating driving device. And an apparatus, wherein the optical transmission and reception means comprises two or more optical transmission and reception modules, and is configured such that at least one or more light emission angles of the two or more optical transmission and reception modules are different from other optical transmission and reception modules.

However, the three-dimensional scanning system as described above has a structure that rotates by mounting both the pulse laser source module and the optical transmission and reception means on the upper part of the rotary drive device, so that a three-dimensional image having a wide angle of view of 360 ° in a multichannel configuration It has the advantage that it can be obtained, but the rotation of the large capacity is required because all components such as optical receiving module, optical component, signal processing module, pulse laser source module and power supply and signal transmission module located in the rotating part of the 3D scanning system must be rotated. There is a need for a motor, which in turn has the problem of increasing the weight and volume of the scanning system.

In addition, in order to obtain a high level of scanning information at a distance of several tens of meters or hundreds of meters using a solid line laser, a source of laser pulsed light used must be several hundred watts to several thousand watts. In order to generate laser light, there are many problems such as an increase in size and weight of a light source device, which is a laser source, and a large amount of power consumed. Accordingly, there are many disadvantages in designing a scanning sensor due to a large amount of heat generated.

In addition, since the optical axis of the output light emitted from the optical transmission module and the optical axis of the reflected light received by the optical reception module do not coincide with each other, objects located in close proximity within a few m are not detected, and the device components increase and the volume becomes large. there was.

Meanwhile, Patent Application Publication No. 104644641 (2004-04-08), filed in Germany, discloses' Optoelectronic position monitoring system for road vehicle has two pulsed lasers, sensor and mechanical scanner with mirror at 45 degrees on shaft with calibration disk driven by is disclosed for the electric motor '.

This publication discloses an electro-optic sensor using the same optical deflection means in the form of a rotating planar mirror and having at least one light receiving means at the center and a plurality of light transmitting means at both ends. .

However, the electro-optical sensor disclosed in the published patent is configured to obtain a multi-channel distance image signal by using one plane mirror, but the light emitting axis and the light receiving axis are separated so that the object of the near distance cannot be detected. There is a limit in expanding the number of channels because of using a plurality of spatially separated optical transmission means.

[Preceding technical literature]

Korea Patent Registration No. 10-1357051 (Registration date 2014.01.23)

German Patent Publication No. 10464464 (published: April 8, 2004)

An object of the present invention for solving the problems according to the prior art, the scanning mechanism or the mirror rotation of the resonance type so that the optical axis of the output light emitted from the optical transmission module and the optical axis of the reflected light received by the optical reception module are in the same direction The arrangement of the optical transmission module and the optical reception module to steer transmit / receive pulse laser light by using the scanning mechanism of the method enables the device configuration to be simplified and realized in a compact manner, thereby dramatically reducing the weight of the entire device. In addition, the present invention provides a three-dimensional scanning system that can reduce manufacturing costs and can quickly realize three-dimensional image acquisition speed and improve precision.

In addition, another object of the present invention, after receiving the multi-point output light in the form of a dot line (not a solid line), the reflected light reflected from the target and returned to the optical detector module of the line array type 3D scanning system to obtain high level image by increasing the density of light received per unit scanning pixel while using low output light source by reducing output quantity of optical transmission module by forming 3D point cloud data image In providing.

The three-dimensional scanning system of the present invention for solving the above technical problem, a light splitting unit for dividing the incident light into a multi-point output light, and a light scanning unit for scanning the multi-point output light divided by the light splitting unit in a predetermined viewing angle form Optical transmission module comprising; An optical receiving module for receiving reflected light reflected from a target after being emitted from the optical transmitting module; And a controller configured to generate an image of a target based on the reflected light received by the light receiving module.

Preferably, the light splitter may be configured to split the disadvantaged incident light into a multi-point output light having a dot line spread at a predetermined angle.

Preferably, the optical scanning unit may be configured to reflect the dot line type multi-point output light in a direction perpendicular to the dot line type multi-point output light at a predetermined range angle.

Preferably, the optical scanning unit may be configured as a resonant mirror that can repeatedly scan a predetermined angle quickly.

Preferably, the light splitter may be configured to split the disadvantaged incident light into multi-point output light through a diffractive optical element having a diffraction pattern formed thereon.

Preferably, the light splitter comprises: a collimator for aligning the optical axis of the disadvantaged incident light provided from the light source; An incident light reflecting member configured to switch a path of incident light by the collimator, the optical axis being aligned; And a diffraction optical element disposed on a path of the disadvantaged incident light reflected by the incident light reflecting member and splitting the disadvantaged incident light into a multi-point output light in the form of a dot line as it passes through the disadvantaged incident light. The optical scanning part is disposed on a path of the multi-point output light in the form of a dot line divided by the diffractive optical element to angle the multi-point output light in the form of a dot line in a direction perpendicular to the multi-point output light in the form of a dot line. It may be configured to include; a resonant mirror reflecting to.

Preferably, the reflected light emitted from the optical transmitting module and reflected from the target and received by the optical receiving module is reflected by the resonant mirror and the path is primarily switched, and reflected light reflected by the resonant mirror The path is secondarily switched by the reflected light reflecting member disposed on the path of the light receiving module.

Preferably, the optical scanning unit may be composed of a rotating mirror that rotates to cover the predetermined viewing angle described above.

Preferably, the rotatable mirror may be provided with a planar mirror on both surfaces, or a curved mirror bent in the rotational direction on both surfaces.

Preferably, the light splitter comprises: a collimator for aligning the optical axis of the disadvantaged incident light provided from the light source; An incident light reflecting member configured to switch a path of incident light by the collimator, the optical axis being aligned; And a diffraction optical element disposed on a path of the disadvantaged incident light reflected by the incident light reflecting member and splitting the disadvantaged incident light into a multi-point output light in the form of a dot line as it passes through the disadvantaged incident light. The optical scanning part is disposed on a path of the multi-point output light in the form of a dot line divided by the diffractive optical element to angle the multi-point output light in the form of a dot line in a direction perpendicular to the multi-point output light in the form of a dot line. It may be configured to include; a rotating mirror to reflect to.

Preferably, the reflected light emitted from the optical transmitting module and reflected from the target and received by the optical receiving module is reflected by the rotating mirror, and the path is primarily switched, and the reflected light reflected by the rotating mirror The path is secondarily switched by the reflected light reflecting member disposed on the path of the light receiving module.

Preferably, at the center of the reflective light reflecting member, a passage hole for passing the multi-point output light in the form of a dot line divided by the diffractive optical element may be formed.

Preferably, the light splitting unit, the light conversion housing is formed in the L-shape formed with the A-shaped through-holes; One end is provided at one end of the light conversion housing, the mirror holder formed with an inclined portion at the other end; wherein the collimator is provided at the other end of the light conversion housing, the incident light reflecting member is the light conversion It is provided in the corner portion of the L-shaped passage hole formed inside the housing, the reflective light reflecting member may be provided on the inclined portion of the mirror holder.

The present invention as described above, the device configuration is simplified by arranging the optical transmission module and the optical reception module so that the optical axis of the output light emitted from the optical transmission module and the optical axis of the reflected light received by the optical reception module are in the same direction. It is advantageous in that it can be compactly implemented, and a fast three-dimensional image of several tens of Hz or more can be obtained by using a scanner consisting of a mirror that resonates a predetermined angle at high speed or a plane or curved reflection mirror that rotates at high speed. In addition to this, it is possible to significantly reduce the weight of the entire device and to minimize the size.

In addition, after emitting multi-point output light in the form of a dot line rather than a solid line, the reflected light reflected from the target is detected by a light receiving module, which is a line array type optical detector, to detect 3D point cloud data. As the image is formed, the output of the light source may be reduced to obtain a distance image signal having a high density of light received per unit scanning pixel in multiple channels while using low output optical power.

In addition, a simple method of changing the diffraction pattern of the diffractive optical element is to select various number of dot lines, such as 8 dot lines, 16 dot lines, 32 dot lines, as well as disadvantages. Since it can be set to the degree, the optical spreading angle can be easily changed by making it suitable for the vertical precision requirements of the 3D scanning sensor.

1 is a perspective view showing a three-dimensional scanning system according to an embodiment of the present invention.

2 is a cross-sectional view showing a three-dimensional scanning system according to an embodiment of the present invention.

3 is a partially exploded perspective view showing a three-dimensional scanning system according to an embodiment of the present invention.

4 is a view showing a path in which light is emitted through a three-dimensional scanning system according to an embodiment of the present invention.

5 is a view showing a path through which light is received through a three-dimensional scanning system according to an embodiment of the present invention.

FIG. 6 illustrates a structure of a DOE mask pattern (15 mm × 15 mm size).

7 and 8 illustrate the disadvantage that incident light is divided into multi-point incident light by the diffractive optical element.

9 is a diagram illustrating the distribution of light for each dot of a multi-point dot line.

10 is a perspective view showing a three-dimensional scanning system according to another embodiment of the present invention.

11 is a cross-sectional view showing a three-dimensional scanning system according to another embodiment of the present invention.

12 is an exploded perspective view illustrating a light scanning unit of a 3D scanning system according to another exemplary embodiment of the present invention.

13 is an exploded perspective view of a portion of a three-dimensional scanning system according to another embodiment of the present invention.

14 is a view showing a path through which light is emitted through a three-dimensional scanning system according to another embodiment of the present invention.

15 is a view showing a path through which light is received through a three-dimensional scanning system according to another embodiment of the present invention.

16 is a view showing another embodiment of a three-dimensional scanning system according to another embodiment of the present invention.

The present invention can be embodied in many other forms without departing from the spirit or main features thereof. Therefore, the embodiments of the present invention are merely examples in all respects and should not be interpreted limitedly.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms.

The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.

The term and / or includes a combination of a plurality of related items or any item of a plurality of related items.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be.

On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

In this application, the terms "comprise", "comprise", "have", and the like are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification. Or other features or numbers, steps, operations, components, parts or combinations thereof in any way should not be excluded in advance.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art.

Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art, and are not construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, and the same or corresponding components will be denoted by the same reference numerals regardless of the reference numerals and redundant description thereof will be omitted.

In the following description of the present invention, if it is determined that the detailed description of the related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

[First Embodiment]

A three-dimensional scanning system according to an embodiment of the present invention is a system for obtaining a three-dimensional image by calculating the distance of the target by receiving the reflected light reflected from the target after emitting the pulsed laser light in a predetermined viewing angle shape, As shown in FIG. 1 and FIG. 2, the optical transmission module 100 includes the optical transmission module 100, the optical reception module 200, and the controller 300.

The three-dimensional scanning system of the present embodiment is a driving assistance application or a tractor running without a driver, which enables the driver to automatically warn the driver or to automatically adjust the speed of the vehicle when a dangerous situation occurs due to an obstacle in front or side. It can be applied to various fields such as automatic driving device.

First, the optical transmission module 100 will be described.

The optical transmission module 100 emits pulsed laser light for three-dimensional scanning. As shown in FIG. 2, the optical transmission module 100 includes a light splitting unit 110 and a light scanning unit 120.

The light splitter 110 divides the disadvantaged incident light L1 (pulse laser light) provided from a light source (not shown), and, for example, the optical axis of the disadvantaged incident light L1 provided from a light source such as a laser diode. And then divide into multi-point output light L2.

Specifically, the light splitter 110 switches the path of the collimator 111 for aligning the optical axis of the defect incident light L1 provided from the light source, and the defect incident light L1 with the optical axis aligned by the collimator 111. The incident light reflecting member 112, which is disposed on the path of the disadvantaged incident light L1 reflected by the incident light reflecting member 112, passes through the disadvantaged incident light L1, and outputs the shortcoming incident light L1. And a diffractive optical element 113 for dividing into light L2.

On the other hand, the collimator 111, the incident light reflecting member 112, the diffraction optical element 113 can be arranged in a relationship as described above, the light splitting portion 110 is formed in a letter 'B' shaped inside The light conversion housing 115 having a through hole 115h formed therein, and may further include a mirror holder 116 having one end disposed at one end of the light conversion housing 115 and having an inclined portion at the other end thereof. The holder housings m1 and m2 for mounting the optical element 113 and the fixing frame m3 for mounting the reflected light reflecting member 210 to the inclined portion of the mirror holder 116 may be further provided.

That is, the collimator 111 provided at the other end of the light conversion housing 115 is provided with a disadvantage of the incident light (L1) provided from the light source to align the optical axis and transmit to the incident light reflecting member 112, the light The incident light reflecting member 112 provided at the corner of the L-shaped through hole 115h formed inside the switching housing 115 reflects the incident light L1 at about 90 ° toward the diffractive optical element 113. The diffraction optical element 113 splits the shortcoming incident light L1 into a multi-point output light L2 to face the optical scanning unit 120 through a slit-shaped hole 116h formed in the mirror holder 116. Will be sent to.

On the other hand, as shown in Figure 6, the diffractive optical element 113 is a filter for diffraction of the light is formed by the diffraction pattern is formed, the disadvantage incident light (L1) transmitted from the collimator 111 at a predetermined angle The multi-point output light L2 in the form of unfolded dot lines is divided.

For example, the diffractive optical element 113 may etch a defect point L1 of a multi-point output light by etching a diffractive optical element (DOE) mask pattern through a photolithography manufacturing process on a quartz or fused silica wafer material. It can be configured to divide into (L2), as shown in Figures 7 and 8 by applying a variety of diffraction patterns, as shown in Figure 7 and 8, the incident light (L1) incident to the diffraction optical element 113 is 8 dots The multi-point output light L2 of various numbers of dot lines such as lines, 16 dot lines, and 32 dot lines, as well as disadvantages, can easily adjust the spread angle divided into the dot lines from the incident light L1 to several tens of degrees.

The optical scanning unit 120 scans the multi-point output light L2 in the form of a dot line divided by the light splitter 110 in a predetermined viewing angle shape, and the multi-point output light L2 in the dot line form. Is configured to reflect the multi-point output light L2 in the form of a dot line in a direction perpendicular to the predetermined range angle (about 60 ° to 90 °), thereby scanning the range of the field of view (FOV). To be done.

As shown in FIG. 4, the optical scanning part 120 may be disposed to be positioned on a traveling path of the multi-point output light L2 divided into a dot line through the diffractive optical element 113. The dot line form is preferably composed of a resonant mirror 114 which can be scanned at a predetermined viewing angle shape as it is driven at a predetermined angular velocity to reflect the multi-point output light L2 having a predetermined range angle. Of course, if the multi-point output light L2 can be scanned by reflecting at a predetermined range angle, it can be made in various configurations such as a general scan mirror.

As described above, according to the configuration of the optical transmission module 100 composed of the light splitting unit 110 and the optical scanning unit 120, the short-point output in the form of a dot line after aligning the optical axis of the incident light (L1) provided from the light source By dividing into the light L2, it can scan in the form of a predetermined viewing angle.

In particular, the multi-point output light L2 in the form of a dot line rather than a solid line is used for three-dimensional scanning, thereby increasing the density of the received light per unit scanning pixel while using a low power laser light output. The level of image can be obtained, through which the weight of the optical transmission module 100 can be significantly reduced, as well as the structure can be simplified.

Next, the optical receiving module 200 and the controller 300 will be described.

The light receiving module 200 is a part for receiving the reflected light L3 reflected from the target after being emitted from the light transmitting module 100, and receives the reflected light L3 to be transmitted to the controller 300 side. It may be configured to include a lens 220 and a receiver 230 for receiving the reflected light (L3).

The reflected light L3 emitted from the optical transmission module 100 and reflected from the target and received by the optical reception module 200 is reflected by the resonant mirror 114, and the path is primarily switched. The path is secondarily switched by the reflected light reflecting member 210 disposed on the path of the reflected light L3 reflected by the resonant mirror 114, such that the lens 220 and the cylinder of the light receiving module 200 are changed. It may be received by the receiver 230 through the lens lens 225, the reflected light reflecting member 210 is provided on the inclined portion of the mirror holder 116, the reflected light (L3) is a light receiving module 200 Will be reflected to be received.

The lens 220 is an aspheric lens, and the cylindrical lens 225 is a lens whose surface is formed in a circumferential side shape, for example, by the resonant mirror 114. The reflected light L3 received by the 230 is corrected to shake in the left and right directions so that the reflected light L3 may be received at a specific position of the receiver 230.

On the other hand, at the central side of the reflective light reflecting member 210, a slit type through hole 210h for passing the multi-point output light (L2) of the dot line divided by the diffraction optical element 113 can be formed. have.

According to the configuration of the optical receiving module 200 as described above, and receives the reflected light (L3) of which the path is switched by the resonant mirror 114 and the reflected light reflecting member 210, to the received reflected light (L3) Information is transmitted to the controller 300, and the controller 300 generates an image of the target based on the reflected light L3 received by the light receiving module 200.

On the other hand, the multi-point output light (L2) in the form of a dot line divided by the diffractive optical element 113, as shown in Figure 9, the amount of light toward the both end side may be less, the light receiving to compensate for this The lens 220 or the receiver 230 may be supplemented by applying an amplification circuit. 9, the vertical axis represents light quantity and the horizontal axis represents length of dot line.

As described above, according to the configuration of the three-dimensional laser scanning system including the optical transmitting module 100, the optical receiving module 200, and the controller 300, the disadvantage of incident light L1 using the diffractive optical element 113. 3D scanning is performed by dividing the multi-point output light L2 in the form of a dot line rather than a solid line to emit 3D scans per unit scanning pixel while using a low output laser output light. By increasing the density of the received light, a high level image signal can be obtained, and the number and spreading angle of the multi-point output light L2 can be easily adjusted by changing the diffraction pattern of the diffractive optical element 113. There is an advantage that the light spread angle can be easily changed to meet the precision requirements.

Second Embodiment

According to another embodiment of the present invention, a three-dimensional scanning system rotates and scans a pulsed laser light to cover a predetermined viewing angle range, and then receives reflected light reflected from a target to calculate a distance of the three-dimensional image. 10 and 11, the optical transmission module 100, the optical reception module 200 and the controller 300 are configured.

First, the optical transmission module 100 will be described.

The optical transmitter module 100 emits pulsed laser light for three-dimensional scanning. As shown in FIG. 11, the optical transmitter module 100 includes a light splitter 110 and a light scanning unit 120.

For example, the diffractive optical element 113 etches a defect point incident light L1 by multi-point output light by etching a diffractive optical element (DOE) mask pattern through a photolithography providing crystal on a quartz or fused silica wafer material. It can be configured to divide into (L2), as shown in Figures 7 and 8 by applying a variety of diffraction patterns, as shown in Figs. The multi-point output light L2 of various numbers of dot lines such as lines, 16 dot lines, 32 dot lines, and the like, as well as disadvantages, the spread angle divided into the dot lines in the incident light L1 can be easily adjusted to several tens of degrees.

The optical scanning unit 120 rotates and scans the multi-point output light L2 in the form of a dot line divided vertically by the light splitter 110 to cover a predetermined viewing angle range, and the multi-point in the form of the dot line. Reflects while rotating the dot line shaped multi-point output light L2 in a direction perpendicular to the output light L2 so as to cover a predetermined viewing angle range (α ° range, approximately 60 ° to 90 °) in FIG. 14. It is configured to allow scanning of at least a range of the field of view (FOV).

As shown in FIG. 14, the optical scanning part 120 may be disposed to pass on the path of the multi-point output light L2 divided into a dot line through the diffraction optical element 113, and the It comprises a rotating mirror 114` of a planar structure to reflect the dot line-shaped multi-point output light (L2) while rotating, the

housing

121a, 121b for mounting the rotary mirror 114` And a driving motor 122 for rotating the rotatable mirror 114 'in one direction as the

housings

121a and 121b are rotated.

On the other hand, to increase the light scanning angle, to increase the amount of light received by the receiver 230, and to reflect and scan the multi-point output light (L2) of the dot line form at a wider range angle, the rotating mirror of the planar structure ( 114 '), as shown in FIG. 16, of course, it can also be configured as a rotating mirror 114` of a curved structure.

In addition, the rotating mirror 114` is formed twice so that the two sides are symmetrically reflective surface with respect to the axis of rotation of the drive motor 122, so as to transmit and receive light in the same direction twice in one rotation two times faster speed It can be produced to obtain a three-dimensional image.

As described above, according to the configuration of the optical transmission module 100 composed of the light splitting unit 110 and the optical scanning unit 120, the short-point output in the form of a dot line after aligning the optical axis of the incident light (L1) provided from the light source As the light L2 is vertically divided and rotated to reflect the light, it is possible to scan in a form that can cover a predetermined horizontal viewing angle range with respect to the direction toward the target to be scanned at a predetermined angle.

In particular, by using the multi-point output light L2 in the form of a dot line rather than a solid line for 3D scanning, a high level of reflected light is obtained by increasing the density of light received per unit scanning pixel while using a low power light source. A signal can be obtained, through which the weight of the optical transmission module 100 can be drastically reduced, as well as the structure can be simplified.

The light receiving module 200 is a part for receiving the reflected light L3 reflected from the target after being emitted from the light transmitting module 100, and receives the reflected light L3 to be transmitted to the controller 300 side. , A lens 220 for receiving the reflected light L3 and a photo detector 230 may be included.

The reflected light L3 emitted from the optical transmitting module 100 and reflected from the target and received by the optical receiving module 200 is reflected by the rotatable mirror 114 ′, and the path is primarily switched. The path is secondarily switched by the reflected light reflecting member 210 disposed on the path of the reflected light L3 reflected by the rotatable mirror 114 ′ so that the lens 220 of the light receiving module 200 is changed. And it may be received by the light detecting element 230 through the cylindrical lens 225, the reflected light reflecting member 210 is provided on the inclined portion of the mirror holder 116, the reflected light (L3) is a light receiving module Reflected to be received at (200).

The lens 220 is an aspheric lens, and the cylindrical lens 225 is a lens whose surface is formed in a circumferential side shape, for example, the optical sword by the rotatable mirror 114 ′. The reflected light L3 received by the output device 230 is collected in a straight line shape so that the reflected light L3 may be collected in the light detection area of the photodetector 230.

In addition, the surface of the reflective light reflecting member 210 may be formed in the shape of a curved surface having a curvature in the same direction as the through hole 210h of the slit type, and through this shape to form a small pass hole 210h. While forming, it is possible to maximize the amount of light received by the photodetector 230.

According to the configuration of the optical receiving module 200 as described above, the reflected light (L3) is converted to the path by the rotating mirror 114` and the reflected light reflecting member 210, the received reflected light (L3) Information on the controller 300 is transmitted to the controller 300, and the controller 300 generates an image of the target based on the reflected light L3 received by the light receiving module 200.

On the other hand, the multi-point output light (L2) in the form of a dot line divided by the diffractive optical element 113, as shown in Figure 9, the amount of light toward the both end side may be less, the light receiving to compensate for this The output signal of the lens 220 or the photodetector 230 may be compensated by applying a differential amplifier circuit. 9, the vertical axis represents light quantity and the horizontal axis represents state positions of vertical dot lines.

As described above, according to the configuration of the three-dimensional laser scanning system including the optical transmitting module 100, the optical receiving module 200, and the controller 300, the disadvantage of incident light L1 using the diffractive optical element 113. 3D scanning is performed by dividing the multi-point output light L2 in the form of a dot line instead of a solid line to emit 3D scans. By increasing the density of the received light, a high level distance image signal can be obtained, and the number and spreading angle of the multi-point output light L2 can be easily adjusted by changing the diffraction pattern of the diffractive optical element 113. There is an advantage that can be easily changed to meet the precision requirements.

Although the present invention has been described with reference to the accompanying drawings, it will be apparent to those skilled in the art that many different and obvious modifications are possible without departing from the scope of the invention from this description. Therefore, the scope of the invention should be construed by the claims described to include many such variations.

Claims

Disadvantages The optical transmission module includes a light splitting unit for dividing incident light into multi-point output light, and a light scanning unit for scanning the multi-point output light divided by the light splitting unit in a predetermined viewing angle;

An optical receiving module for receiving reflected light reflected from a target after being emitted from the optical transmitting module; And

And a controller configured to generate an image of a target based on the reflected light received by the light receiving module.
The method of claim 1,

The light splitter,

The disadvantaged three-dimensional scanning system, characterized in that configured to split the incident light into a multi-point output light in the form of a dot line spread at a predetermined angle.
The method of claim 2,

The Guangzhou Gwangsabu,

And reflecting the dot line shaped multi-point output light at a predetermined range angle in a direction perpendicular to the dot line shaped multi-point output light.
The method of claim 3,

The Guangzhou Gwangsabu,

3D scanning system, characterized in that consisting of a resonant mirror.
The method of claim 1,

The light splitter,

And a diffraction optical element having a diffraction pattern formed thereon, the three-dimensional scanning system configured to split the disadvantaged incident light into multi-point output light.
The method of claim 1,

The light splitter,

Disadvantages provided from the light source collimator to align the optical axis of incident light;

An incident light reflecting member configured to switch a path of incident light by the collimator, the optical axis being aligned; And

And a diffraction optical element disposed on a path of the disadvantaged incident light reflected by the incident light reflecting member and splitting the disadvantaged incident light into a multi-point output light in the form of a dot line as it passes the disadvantaged incident light.

The Guangzhou Gwangsabu,

Resonance arranged on the path of the multi-point output light of the dot line form divided by the diffraction optical element to reflect the multi-point output light of the dot line form in a direction perpendicular to the multi-point output light of the dot line form at a predetermined range angle 3D scanning system comprising a mirror;
The method of claim 6,

The reflected light emitted from the optical transmission module and reflected from the target and received by the optical reception module,

The path is primarily reflected by the resonant mirror and the path is primarily switched, and the path is secondarily switched by the reflected light reflecting member disposed on the path of the reflected light reflected by the resonant mirror and received by the optical receiving module. 3D scanning system, characterized in that.
The method of claim 6,

The reflected light reflecting member is disposed in the light splitter,

Multi-point output light output from the optical scanning part to the resonance mirror;

3D scanning system, characterized in that the same optical axis of the reflected light reflected from the resonant mirror.
The method of claim 3,

The Guangzhou Gwangsabu,

And a rotating mirror rotating to cover the predetermined viewing angle described above.
The method of claim 9,

The rotating mirror,

A planar mirror is provided on both surfaces, or a curved surface mirror curved in a rotational direction on both surfaces.
The method of claim 1,

The light splitter,

Disadvantages provided from the light source collimator to align the optical axis of incident light;

An incident light reflecting member configured to switch a path of incident light by the collimator, the optical axis being aligned; And

And a diffraction optical element disposed on a path of the disadvantaged incident light reflected by the incident light reflecting member and splitting the disadvantaged incident light into a multi-point output light in the form of a dot line as it passes the disadvantaged incident light.

The Guangzhou Gwangsabu,

The circuit is arranged on the path of the multi-point output light in the form of a dot line divided by the diffraction optical element and reflects the multi-point output light in the form of a dot line at a predetermined range angle in a direction perpendicular to the multi-point output light of the dot line. 3D scanning system comprising a; typical mirror.
The method of claim 11,

The reflected light emitted from the optical transmission module and reflected from the target and received by the optical reception module,

The path is primarily reflected by the rotating mirror, and the path is secondarily switched by the reflected light reflecting member disposed on the path of the reflected light reflected by the rotating mirror and received by the optical receiving module. 3D scanning system, characterized in that.
The method of claim 11,

The reflected light reflecting member is disposed in the light splitter,

A multi-point output light output from the optical scanning part to the rotating mirror,

3D scanning system, characterized in that the optical axis of the reflected light reflected from the revolving mirror is formed the same.
The method according to claim 7 or 12, wherein

On the central side of the reflected light reflecting member,

And a through hole for passing the multi-point output light in the form of a dot line divided by the diffractive optical element.
The method according to claim 7 or 12, wherein

The light splitter,

A light conversion housing formed in an A-shape and having an A-shaped passage hole formed therein;

One end is provided on one side end of the optical conversion housing, the other end is a mirror holder formed with a slope;

The collimator is provided at the other end of the light conversion housing, the incident light reflecting member is provided in the corner portion of the L-shaped through-hole formed in the light conversion housing, the reflected light reflecting member on the inclined portion of the mirror holder 3D scanning system, characterized in that provided.