WO2017073982A1 - Système de balayage tridimensionnel - Google Patents

Système de balayage tridimensionnel Download PDF

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Publication number
WO2017073982A1
WO2017073982A1 PCT/KR2016/012015 KR2016012015W WO2017073982A1 WO 2017073982 A1 WO2017073982 A1 WO 2017073982A1 KR 2016012015 W KR2016012015 W KR 2016012015W WO 2017073982 A1 WO2017073982 A1 WO 2017073982A1
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WO
WIPO (PCT)
Prior art keywords
light
reflected
optical
point output
mirror
Prior art date
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PCT/KR2016/012015
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English (en)
Korean (ko)
Inventor
백승호
서형근
조국
박병윤
Original Assignee
한국생산기술연구원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Priority claimed from KR1020150151629A external-priority patent/KR101744610B1/ko
Priority claimed from KR1020150170694A external-priority patent/KR101884781B1/ko
Application filed by 한국생산기술연구원 filed Critical 한국생산기술연구원
Publication of WO2017073982A1 publication Critical patent/WO2017073982A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/10—Beam splitting or combining systems

Definitions

  • 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.
  • 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.
  • LIDAR Light Detection And Ranging
  • Radar Radar
  • the system can calculate distances to targets and moving speeds of targets by capturing them and converting them into electrical signals.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a source of laser pulsed light used 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.
  • a light source device which is a laser source
  • a large amount of power consumed Accordingly, there are many disadvantages in designing a scanning sensor due to a large amount of heat generated.
  • 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.
  • 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. .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the optical scanning unit may be configured as a resonant mirror that can repeatedly scan a predetermined angle quickly.
  • 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.
  • 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.
  • 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.
  • the optical scanning unit may be composed of a rotating mirror that rotates to cover the predetermined viewing angle described above.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • FIG. 1 is a perspective view showing a three-dimensional scanning system according to an embodiment of the present invention.
  • FIG. 2 is a cross-sectional view showing a three-dimensional scanning system according to an embodiment of the present invention.
  • FIG. 3 is a partially exploded perspective view showing a three-dimensional scanning system according to an embodiment of the present invention.
  • FIG. 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.
  • FIG. 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).
  • FIG. 9 is a diagram illustrating the distribution of light for each dot of a multi-point dot line.
  • FIG. 10 is a perspective view showing a three-dimensional scanning system according to another embodiment of the present invention.
  • FIG. 11 is a cross-sectional view showing a three-dimensional scanning system according to another embodiment of the present invention.
  • FIG. 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.
  • FIG. 13 is an exploded perspective view of a portion of a three-dimensional scanning system according to another embodiment of the present invention.
  • FIG. 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 terms are used only for the purpose of distinguishing one component from another.
  • 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.
  • a three-dimensional scanning system 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,
  • 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.
  • optical transmission module 100 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.
  • a light source not shown
  • 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.
  • a diffractive optical element 113 for dividing into light L2.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • the optical receiving module 200 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.
  • the lens 220 or the receiver 230 may be supplemented by applying an amplification circuit.
  • the vertical axis represents light quantity and the horizontal axis represents length of dot line.
  • the disadvantage of incident light L1 using the diffractive optical element 113 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.
  • 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.
  • 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.
  • the optical transmission module 100, the optical reception module 200 and the controller 300 are configured.
  • 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.
  • optical transmission module 100 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.
  • 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.
  • a light source not shown
  • 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.
  • a diffractive optical element 113 for dividing into light L2.
  • 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.
  • 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.
  • 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.
  • 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 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 ( ⁇ ° 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).
  • FOV field of view
  • 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.
  • 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.
  • the light L2 is vertically divided and rotated to reflect the light
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • the output signal of the lens 220 or the photodetector 230 may be compensated by applying a differential amplifier circuit.
  • the vertical axis represents light quantity and the horizontal axis represents state positions of vertical dot lines.
  • the disadvantage of incident light L1 using the diffractive optical element 113 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.
  • 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.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optics & Photonics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

La présente invention concerne un système de balayage tridimensionnel susceptible d'obtenir un signal d'image de niveau élevé en augmentant la densité de la lumière reçue par unité de pixel de balayage tout en utilisant une source de lumière à sortie faible en réduisant la sortie d'une source de lumière d'un module de réception de lumière lorsque la lumière de sortie à points multiples se présentant sous la forme d'une ligne en pointillés et non d'une ligne continue est émise et une lumière réfléchie par une cible est détectée au moyen d'un module de réception de lumière, qui est un détecteur optique se présentant sous la forme d'un réseau linéaire, pour former ainsi une image tridimensionnelle de données en nuage. À cet effet, le système de balayage tridimensionnel selon la présente invention comprend : un module de transmission de lumière comprenant une partie de division de lumière pour diviser une lumière incidente à point unique en une lumière de sortie à points multiples et une partie de balayage optique pour balayer la lumière de sortie à points multiples divisée par la partie de division de lumière en un angle de vision prédéfini ; un module de réception de lumière pour recevoir la lumière réfléchie par une cible après avoir été émise par le module de transmission optique ; et un organe de commande pour générer une image de la cible sur la base de la lumière réfléchie reçue par le module de réception de lumière.
PCT/KR2016/012015 2015-10-30 2016-10-25 Système de balayage tridimensionnel WO2017073982A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2015-0151629 2015-10-30
KR1020150151629A KR101744610B1 (ko) 2015-10-30 2015-10-30 3차원 스캐닝 시스템
KR1020150170694A KR101884781B1 (ko) 2015-12-02 2015-12-02 3차원 스캐닝 시스템
KR10-2015-0170694 2015-12-02

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CN108318873A (zh) * 2018-03-20 2018-07-24 深圳市速腾聚创科技有限公司 一种固态激光雷达
CN108761421A (zh) * 2018-03-20 2018-11-06 深圳市速腾聚创科技有限公司 一种固态激光雷达
CN109443237A (zh) * 2018-11-30 2019-03-08 广西师范大学 一种远距离结构光三维测量装置
CN109471126A (zh) * 2017-09-07 2019-03-15 南京理工大学 一种用于线阵激光雷达的振转结合周向扫描装置
CN110231608A (zh) * 2019-08-07 2019-09-13 深圳市速腾聚创科技有限公司 激光雷达及智能感应设备
CN110988893A (zh) * 2019-12-11 2020-04-10 武汉万集信息技术有限公司 激光雷达装置
EP3742199A4 (fr) * 2018-01-15 2021-06-23 Hesai Photonics Technology Co., Ltd Radar laser et son procédé de fonctionnement

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JP2576444B2 (ja) * 1988-06-20 1997-01-29 オムロン株式会社 マルチ・ビーム・プロジェクタおよびそれを利用した形状認識装置
JPH10170264A (ja) * 1996-12-10 1998-06-26 Calsonic Corp 距離計測装置およびこれを用いた事故回避装置
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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109471126A (zh) * 2017-09-07 2019-03-15 南京理工大学 一种用于线阵激光雷达的振转结合周向扫描装置
CN109471126B (zh) * 2017-09-07 2022-12-02 南京理工大学 一种用于线阵激光雷达的振转结合周向扫描装置
EP3742199A4 (fr) * 2018-01-15 2021-06-23 Hesai Photonics Technology Co., Ltd Radar laser et son procédé de fonctionnement
CN108318873A (zh) * 2018-03-20 2018-07-24 深圳市速腾聚创科技有限公司 一种固态激光雷达
CN108761421A (zh) * 2018-03-20 2018-11-06 深圳市速腾聚创科技有限公司 一种固态激光雷达
CN109443237A (zh) * 2018-11-30 2019-03-08 广西师范大学 一种远距离结构光三维测量装置
CN109443237B (zh) * 2018-11-30 2023-09-22 广西师范大学 一种远距离结构光三维测量装置
CN110231608A (zh) * 2019-08-07 2019-09-13 深圳市速腾聚创科技有限公司 激光雷达及智能感应设备
CN110988893A (zh) * 2019-12-11 2020-04-10 武汉万集信息技术有限公司 激光雷达装置
CN110988893B (zh) * 2019-12-11 2022-04-12 武汉万集信息技术有限公司 激光雷达装置

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