KR102189595B1 - Laser Scanner - Google Patents

Abstract

The present invention relates to a laser scanner device, in particular, in obtaining distance information by measuring a time-of-flight by radiating a laser pulse beam to an object and receiving a reflected laser signal to return, horizontal and vertical 3D image information including distance information can be obtained by scanning in 2D, and 3D color image and black and white 3D image by simultaneously emitting three primary colors of visible light and NIR (Near Infrared) It relates to a laser scanner device capable of simultaneously acquiring a dimensional image.
In addition, according to the present invention, the transmission unit for generating a laser pulse signal according to the signal processing and the control signal of the control unit for two-dimensional scanning in the target area; A receiving unit that separates the laser pulse reflected from the target area into visible light and near-infrared light, outputs a visible light signal and a near-infrared signal, and generates and outputs a luminance signal of a monochrome signal using the separated visible light; And a control signal is output to the transmitter, and the visible light signal, luminance signal, and near-infrared signal separated by the receiving unit are converted into digital signals, and the digital data stream of the visible light and near-infrared signals converted into digital signals is distance information. There is provided a laser scanning apparatus including a signal processing and a control unit for multiplexing with one.

Description

Laser scanner device {Laser Scanner}

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

Currently, a 3D laser scanner that is widely used in general acquires a 3D image by using an infrared laser, which is an invisible light with a wavelength of 900nm or more, and when reproducing it, an infrared point cloud The image image formed by the trajectory of) as black & white dots is implemented in 3D on the display screen.

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

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

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

The present invention was conceived to solve the above problems, in obtaining distance information by radiating a laser pulse beam to an object and receiving a reflected laser signal to measure a time-of-flight , By scanning horizontally and vertically in two dimensions, you can obtain three-dimensional image information including distance information, and simultaneously radiate three primary colors of visible light and NIR (Near Infrared). It is to provide a laser scanner device capable of simultaneously acquiring an image and a black and white three-dimensional image.

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

In addition, the transmitting unit according to an aspect of the present invention comprises: a pulse modulating and switching unit for switching short pulses that generate a control signal (trigger signal) from the signal processing and control unit; A laser pulse generator for generating and outputting an actual laser pulse according to the switching of the pulse modulation and switching unit; And a laser two-dimensional scanning unit that transmits the laser pulse signal generated by the laser pulse generation unit to a target region to be imaged and performs two-dimensional scanning in X and Y axes.

In addition, the pulse modulating and switching unit according to an aspect of the present invention comprises: a pulse modulator configured to receive a trigger pulse, which is a control signal from the signal processing and control unit, to generate a square wave pulse; And a laser switching circuit for switching the laser diode of the laser pulse generator according to the square wave pulse generated by the pulse modulator.

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

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

In addition, the laser two-dimensional scanning unit according to an aspect of the present invention includes a vertical reflection mirror for vertically reflecting the laser pulses projected from the laser pulse generator; A horizontal reflection mirror for horizontally reflecting the laser pulses reflected from the vertical reflection mirror; A vertical motor driving the vertical reflective mirror in a vertical direction; A horizontal motor driving the horizontal reflective mirror in a horizontal direction; A motor controller for controlling a vertical motor and a horizontal motor according to the signal processing and control of the controller; A vertical encoder for encoding an address of a vertical axis; A horizontal encoder for encoding an address on a horizontal axis; And a scan address multiplexer for multiplexing and outputting the address of the vertical axis output through the vertical encoder and the address of the horizontal axis output through the horizontal encoder.

In addition, the receiving unit according to an aspect of the present invention includes a receiving objective lens for focusing laser pulses reflected from a target area; A laser signal separating unit configured to separate and output visible light and near-infrared light by receiving the laser pulse focused from the receiving objective lens; A visible light primary color separation optical unit that separates and outputs a primary color from the visible light; And a signal synthesis and mode selection unit for synthesizing the primary colors separated by the primary color separation optical unit to generate and output a luminance signal of a monochrome signal.

In addition, the objective lens for reception according to an aspect of the present invention receives and focuses laser pulses of visible light and near infrared (NIR), which are invisible light.

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

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

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

In addition, the analog-to-digital conversion module according to an aspect of the present invention includes: a first analog-to-digital converter configured to amplify the primary color of visible light separated by the primary color separation optical unit and convert an analog signal form into a digital signal; And a second analog-to-digital converter converting a luminance signal, a synchronized luminance signal, and a near-infrared signal, which are output signals of the signal synthesis and mode selection unit, into a digital signal.

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

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

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

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

By applying the technology according to the present invention, it is possible to obtain a three-dimensional 3D image image including distance information and obtain a two-dimensional color image image expressing the actual color of the object. It has the advantage that it is very useful in accurately recognizing the content and information of the image by acquiring the complete information of the image.

In this way, laser scanners can provide very useful functions in various industrial or military applications.

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

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

First, terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention, and expressions in the singular may include a plurality of expressions unless clearly different meanings in context. In addition, in the present application, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or a combination thereof described in the specification, but one or more other It is to be understood that the presence or addition of features, numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance the possibility of being excluded.

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

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

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

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

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

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

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

In this configuration, the pulse modulation and switching unit 110 of the transmission unit 100 receives a trigger pulse, which is a control signal from the main control device 310, to generate a square wave pulse with a very narrow width, and a laser pulse generation unit according to the generated square wave pulse. Switch 120 laser diodes.

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

Then, the laser 2D scanning unit 130 transmits the laser pulse signal generated by the laser pulse generation unit 120 to an object or area (target area) to be imaged, and performs 2D scanning in the X and Y axes. ).

On the other hand, the receiving objective lens 210 of the transmitter 200 receives the laser pulses of visible light reflected from the target area and near infrared (NIR), which is invisible, and focuses it into a narrow area. Let it.

The laser signal separation unit 220 separates the laser pulse into a near-infrared band, which is visible light and invisible light.

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

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

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

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

Therefore, they are attenuated by respective ratios and input to the signal synthesis and mode selection unit 260.

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

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

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

When the synchronization signal generation unit 250 generates and outputs the synchronization signal, the signal synthesis and mode selection unit 260 synthesizes the synchronization signal with the luminance (Y) signal, ') becomes a signal.

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

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

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

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

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

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

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

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

In order to detect the signal voltage of each point crowd (corresponding to the pixel in the normal image), it is determined that the reflected wave signal has been received when it is above the threshold voltage level. The time when such a reflected wave signal is determined to be received is the pulse detection time. It is called.

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

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

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

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

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

2 is a detailed block diagram for implementing the apparatus of the present invention.

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

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

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

Here, since the present invention uses two lasers of visible light and near-infrared light at the same time, the laser diode and the concentrator are composed of two sets.

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

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

Adapters (120-5, 120-6) connect the generated laser beam to single-mode fiber optic cables (120-7, 120-8).

These two strands of optical fiber enter the optical directional coupler 120-9, and the laser beams of 4 wavelengths are combined together and proceed to the output direction only with one optical fiber.

The output adapter 120-10 emits a laser beam from the light directional coupler 120-7 into free space, and this laser beam now reflects the vertical reflection mirror 130-1 and the horizontal reflection forming the laser two-dimensional scanning unit. It is transmitted to an object or a target area for which an image is to be acquired through the mirror 130-2.

Here, the vertical motor (130-2) and the horizontal motor (130-4) are both precision stepping motors, and when controlled from the main control device 360, constant intervals in the horizontal and vertical directions through the control interface 330 It rotates gradually, and the object is scanned to obtain a video image.

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

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

Next, the operation of the receiving unit will be described, and the receiving objective lens 210 is a part that receives all rays coming from the object to be scanned or the target area, and increases the amount of received light by a combination of a convex lens and a concave lens. In order to increase sensitivity, it collects light from a wide aperture into a narrow area.

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

The near-infrared rays separated by the special prism 220 are reflected from the inside to go out to the near-infrared rays 240-1 constituting the near-infrared optics and amplification unit 240, and all the visible rays of R, G, B are immediately transmitted to separate the visible light primary color. It goes straight to the first wavelength-selective dichroic mirror 230-1 constituting the optical unit 230.

In the first dichroic mirror 230-1, light having a wavelength of 610 nm or longer is reflected and proceeds toward the first reflecting mirror 230-3, and other visible light is It passes right through and enters the second dichroic mirror 230-2.

The second color-selective translucent mirror 230-2 reflects blue light with a wavelength of 470 nm or shorter wavelength, and enters the ordinary second reflecting mirror 230-3, and is in the vicinity of green with a wavelength of 500 to 600 nm. The light proceeds straight forward, is transmitted, and enters the third focusing lens 230-12.

In this way, the color-selected translucent mirrors 230-1 and 230-2 separate the three primary colors R (emission), G (green), and B (blue) from visible light separately.

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

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

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

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

In other words, it is used to output an image to an external TV or display by synthesizing the Y signal and the synchronization pulse to produce a Y'signal, which is a synchronization luminance signal.

It also outputs a Y signal or an NIR signal as necessary. In other words, in the laser scan mode using only near-infrared (NIR), as well as outputting the NIR signal and processing it in the analog-to-digital converter (370-1), it enters the signal processing, and the laser scan mode uses only visible light. Outputs the Y signal as an output and converts the R, G, B, and Y signals into digital signals in the corresponding analog-to-digital converter (ADC) (360-1, 360-2, 360-3, 370-1). Afterwards, signal processing is started.

Next, a circuit corresponding to the signal processing and control unit will be described, when the timing detection unit 380 receives a Y signal or an NIR signal, amplifies this level, and detects a reflected wave reception when a signal exceeding an appropriately set threshold level is input. Thus, it is sent to a time-to-digital converter 390 to convert the difference between the transmission laser pulse firing time and the reflected wave reception time, that is, the time difference, into a digital physical quantity, and converted into a distance of the object. This is all done under the control of the main control device 360.

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

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

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

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

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

By applying the technology according to the present invention, it is possible to obtain a three-dimensional 3D image image including distance information and obtain a two-dimensional color image image expressing the actual color of the object. It has the advantage that it is very useful in accurately recognizing the content and information of the image by acquiring complete information of the image.

In this way, laser scanners can provide very useful functions in various industrial or military applications.

The scope of the present invention is not limited to the above-described embodiments, but may be implemented in various forms within the scope of the appended claims. Without departing from the gist of the present invention claimed in the claims, any person of ordinary skill in the art to which the present invention pertains shall be deemed to fall within the scope of the description of the claims of the present invention to various ranges capable of modification.

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

Claims (16)

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

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