WO2020159006A1

WO2020159006A1 - Laser scanner device

Info

Publication number: WO2020159006A1
Application number: PCT/KR2019/005530
Authority: WO
Inventors: 이기창; 정차근
Original assignee: 호서대학교 산학협력단
Priority date: 2019-02-01
Filing date: 2019-05-09
Publication date: 2020-08-06
Also published as: KR20200095940A; KR102189595B1

Abstract

The present invention relates to a laser scanner device whereby three-dimensional image information, including distance information, may be acquired by two-dimensionally scanning horizontally and vertically, and a three-dimensional color image and a three-dimensional black-and-white image may be simultaneously acquired by simultaneously radiating a near infrared ray (NIR) and a visible light having the three primary colors. The laser scanner device comprises: a transmission unit; a receiving unit; and a signal processing and control unit which outputs a control signal to the transmission unit, converts a visible light signal, a luminance signal and a near infrared signal, divided from the receiving unit, into digital signals, and multiplexes, into one, location information along with digital data streams of the visible light signal and the near infrared signal converted into digital signals.

Description

Laser scanner device

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

3D laser scanners, which are currently widely used in commercial use, mainly acquire an image in 3D using an infrared laser, which is an invisible light having a wavelength of 900 nm or more, and when reproducing it, an infrared point cloud ) Creates a three-dimensional image image on the display screen by forming the locus of black and white dots.

Therefore, there is a disadvantage that the color of the actual image cannot be expressed. However, in this case, for convenience of analysis, the post-processing of the software algorithm is usually performed. Although the color of each point crowd is displayed differently according to the distance range as a work, it is used to visually facilitate distance recognition between image pixels, 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 is difficult to analyze the exact image because the actual color of the scanned background, object, or structure is unknown with the image obtained with this conventional laser scanner.

The present invention was devised to solve the above problems, in obtaining a distance information by measuring a time-of-flight by receiving a laser signal that is reflected back by radiating a laser pulse beam to an object, By scanning in two dimensions horizontally and vertically, three-dimensional image information including distance information can be obtained, and three-color Visible Light and Near Infrared (NIR) are simultaneously emitted to generate a color three-dimensional image. And a laser scanner device capable of simultaneously acquiring black and white 3D images.

An aspect of the present invention is a transmitter for generating a laser pulse signal according to the control signal of the signal processing and control unit to scan the target area in two dimensions; A receiving unit that outputs a control signal to the transmitting unit, separates the laser pulse reflected from the target region into visible light and near-infrared, 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 outputting a control signal to the transmitter, converting the visible light signal, the luminance signal and the near-infrared signal separated from the receiver into a digital signal, so that the digital data stream of the visible light signal and the near-infrared signal converted to a digital signal is distance information. It includes a signal processing and a controller for multiplexing together with one.

In addition, the transmitter of one aspect of the present invention is a pulse modulation and switching unit for switching a pulse of a short width generated by the control signal (trigger signal) from the signal processing and control unit; A laser pulse generator that generates and outputs an actual laser pulse according to the pulse modulation and switching of the switching unit; And a laser two-dimensional scanning unit that transmits the laser pulse signal generated by the laser pulse generating unit to a target region to be imaged and performs two-dimensional scanning in the X and Y axes.

In addition, the pulse modulation and switching unit of one aspect of the present invention is a pulse modulator for receiving a control signal trigger pulse from the signal processing and control unit to generate a square wave pulse; And a laser switching circuit that switches 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 is a pair of laser diodes; A pair of collimators for focusing laser beam rays into dots corresponding to each of the pair of laser diodes; A pair of adapters that connect and connect the laser beam generated corresponding to each focuser to a single mode optical fiber cable; An optical directional coupler that synthesizes and outputs 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 one aspect of the present invention, one laser diode includes a near infrared laser diode having a near infrared (NIR) wavelength of 905 nm and a red laser diode having a wavelength of 610 nm, and the other laser diode has a wavelength. The green laser diode of 535nm and the blue laser diode of 470nm wavelength are built together.

In addition, the laser two-dimensional scanning unit of one aspect of the present invention vertical reflection mirror for vertically reflecting the laser pulse projected from the laser pulse generating unit; A horizontal reflection mirror that horizontally reflects the laser pulse 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 that controls vertical and horizontal motors under the control of the signal processing and control unit; A vertical encoder that encodes the address of the vertical axis; A horizontal encoder that encodes the address of the horizontal axis; And a scan address multiplexer that multiplexes and outputs 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 of one aspect of the present invention for receiving the objective lens for focusing the laser pulse reflected from the target area; A laser signal separation unit for receiving the laser pulse focused from the receiving objective lens and separating and outputting visible light and near infrared rays; A visible light primary color separation optical unit for separating and outputting a primary color from the visible light; And a signal synthesis and mode selector for synthesizing primary colors separated from the visible light primary color separation optical unit to generate and output a luminance signal of a black and white signal.

Further, the receiving objective lens of one aspect of the present invention receives and focuses a laser pulse of near infrared (NIR), which is visible light and invisible light.

In addition, the visible light primary color separation optical unit of the aspect of the present invention is a first wavelength-selective translucent mirror that reflects light of a long wavelength of red at 610 nm and passes light of the remaining wavelengths; And a second color classification that reflects light having a short wavelength of blue at a wavelength of 470 nm and transmits light of a wavelength range of 500 to 600 nm in the vicinity of the intermediate wavelength band in the light passing through the first color classification translucent mirror. Includes translucent mirror.

In addition, the receiving unit of one aspect of the present invention is a synchronization signal generator for generating a synchronization signal; And a near-infrared optical and amplifying unit for amplifying and outputting the near-infrared separated from the laser signal separation unit, wherein the signal synthesis and mode selection unit synthesizes the synchronization signal generated by the synchronization signal generation unit into the luminance signal and synchronizes the luminance. Generates and outputs a signal, and receives and outputs a near-infrared signal output from the near-infrared optical and amplifying unit.

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

In addition, the analog-to-digital conversion module of one aspect of the present invention includes: a first analog-to-digital conversion unit for amplifying the primary color of visible light separated from the visible color primary optical separation unit and converting an analog signal form into a digital signal; And a second analog-to-digital converter for converting the luminance signal, the output signal of the signal synthesis and mode selection unit, the synchronized luminance signal, and the near infrared signal into a digital signal.

In addition, the signal processing and control unit of one aspect of the present invention includes a timing detection unit that detects 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 at which the laser pulse is transmitted from the transmission unit into a digital signal and outputting it as 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 a mode and a 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, one aspect of the present invention further includes a power supply unit including a high voltage circuit for supplying a high voltage to a battery and a transmitter and a receiver for generating various voltages required for circuit operation.

On the other hand, another aspect of the present invention is a pulse modulation and switching unit for receiving a control signal from the main control unit for switching the laser pulse generator; 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 generating unit to a target region to be imaged and performs two-dimensional scanning in the X and Y axes; A receiving objective lens for focusing the laser pulse reflected from the target region; A laser signal separation unit that receives the laser pulse focused from the receiving objective lens and separates and outputs visible light; A visible light primary color separation optical unit for separating and outputting a primary color from the visible light; A synchronization signal generator for providing a synchronization signal; A near-infrared optical and amplifying unit for amplifying and outputting near-infrared separated from the laser signal separation unit; The primary colors separated from the visible light primary color separation optical unit are synthesized to generate and output a luminance signal of a black and white signal, and the synchronization signal generated by the synchronization signal generator is synthesized to the luminance signal to generate and output a synchronized luminance signal, A signal synthesis and mode selection unit for receiving and outputting the near infrared signal output from the near infrared optical and amplifying unit; Amplifies the primary color of visible light separated from the visible light primary color separation optical unit, converts the analog signal type into a digital signal, and converts the luminance signal, synchronized luminance signal, and near-infrared signal, which are output signals from the signal synthesis and mode selector, into digital signals. Analog-to-digital conversion module; A digital data format processing unit in which a digital data stream of a visible light signal and a near infrared signal converted into a digital signal in the analog digital conversion module is multiplexed together with distance information; And a main control device for inputting and outputting various control signals, generating digital data necessary for a mode set in a mode and a control interface, and storing the data in a memory or sending it out through a communication port.

By applying the technology according to the present invention, a three-dimensional 3D image image including distance information is obtained, and at the same time, a 2D color image image representing an actual color of the object can be obtained, and thus, when analyzing and analyzing the image image information, the object The advantage of acquiring the complete information of is very beneficial in accurately recognizing the content and information of the image.

This allows laser scanners to provide very useful functions in a variety of industrial and military applications.

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

2 is a detailed block diagram for the implementation of the device of the present invention.

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

Hereinafter, exemplary embodiments of the present invention will be exemplified and described with reference to the present invention, the operational advantages of the present invention, and the objectives achieved by the practice of the present invention.

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

The transmitting unit 100 includes a pulse modulation and switching unit 110, a laser pulse generating unit 120 and a laser two-dimensional 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 amplification unit 240, a synchronization signal generation unit 250, and It includes a signal synthesis and mode selection unit 260.

Next, the signal processing and control unit 300 includes a main control unit 310, a memory 320, a mode and control interface 330, an operation panel 340, a digital data format processing unit 350, a first analog digital conversion It includes a unit 360, a second analog-to-digital conversion unit 370, a timing detection unit 380, and a time digital conversion unit 390. 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 transmitter 100 receives a control signal trigger pulse from the main controller 310 to make a very narrow square wave pulse, and a laser pulse generator according to the generated square wave pulse. The laser diode of 120 is switched.

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

Then, the laser two-dimensional scanning unit 130 transmits the laser pulse signal generated by the laser pulse generating unit 120 to an object or region (target region) to be imaged, and scans in two dimensions in the X and Y axes. ).

On the other hand, the objective lens 210 for reception of the transmitting unit 200 receives a laser pulse of near infrared rays (NIR), which are visible light and invisible light reflected from the target area, and focuses to a narrow area. Order.

The laser signal separation unit 220 separates the laser pulses into visible and invisible light in the near infrared band.

Then, 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 types of light: red (R: Red), green (G: Green), and blue (B: Blue).

According to the principle of colorimetry, 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, the luminance of the black and white signal (luminance: referred to as'Y signal') is obtained.

Therefore, they are attenuated at each ratio 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 visible light primary color separation optical unit 230 to generate a luminance signal that is the brightness of the black and white signal.

As described above, the signal synthesis and mode selection unit 260 outputs a luminance (Y) signal as an output, which is analog monochrome brightness information.

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

When the synchronization signal generator 250 generates and outputs a synchronization signal, the signal synthesis and mode selector 260 synthesizes it into a luminance (Y) signal and synchronizes the luminance (Y), which is a combined luminance signal. ') It becomes a signal.

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

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

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

Accordingly, the signal synthesis and mode selector 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 digital conversion module of the signal processing and control unit 300 amplifies the primary color of visible light separated from the visible light primary color separation optical unit 230, converts the analog signal form into a digital signal, and synthesizes the signal and selects a mode ( 260) converts the luminance signal, the synchronized luminance signal, and the near infrared signal, which are output signals, into digital signals.

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

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

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 together with distance information from the digital data format processor 350.

To detect the signal voltage of each point crowd (corresponding to a pixel in a normal image), it is determined that the reflected wave signal is received when the threshold voltage level is higher than the threshold voltage level. It is said.

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

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

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 at which the laser pulse is transmitted by a transmitter, into a digital signal, and converts the digital data format into distance information. (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 make digital data necessary for the mode set in the mode and the control interface 330, Overall operation is performed using the operation panel 340, such as storing data in the memory 320 or sending it to the outside through a communication port.

Next, the battery 410 of the power supply unit 400 generates various voltages necessary for circuit operation and supplies it to the circuit, and the high-voltage circuit 420 is a laser diode at the transmitter 100 and a laser signal at the front of the receiver 200 It produces and supplies high voltage required for APD (Avalanche Photo Diode), which serves to receive phosphorus light and convert it into electric current.

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

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

The laser pulse generator 120 is composed of laser diodes 120-1 and 120-2 and collimators 120-3 and 120-4 that aggregate laser beam rays into small dots. , The focusing lens and the focal length control device are included in the focusers 120-3 and 120-4.

Here, since the present invention uses two lasers of visible light and near infrared rays at the same time, it consists of two sets of laser diodes and focusers.

In the case of a laser diode manufactured and sold in the industry, a dual laser diode having two different wavelengths in one package is shown.

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

The adapters 120-5 and 120-6 are all connected by connecting the generated laser beams to a single-mode optical biber cable (120-7, 120-8).

These two strands of optical fiber enter the optical directional coupler (optical directional coupler) (120-9) and the laser beams of 4 wavelengths are synthesized together and proceed only in the output direction with one optical fiber.

The output adapter 120-10 fires a laser beam from the optical directional coupler 120-7 into free space, which is now a vertical reflection mirror 130-1 and a horizontal reflection that form a laser two-dimensional scanning unit. It is transmitted to an object or an object area to acquire an image through the mirror 130-2.

Here, both the vertical motor 130-2 and the horizontal motor 130-4 are precision stepping motors, and when they are controlled from the main control device 360, they are spaced in the horizontal and vertical directions through the control interface 330. By rotating each time, the target 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 provided 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 measurement data of the receiver and stored in the memory 320 via the MPU 310.

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

Next, when the operation of the receiving unit is described, the receiving objective lens 210 is a portion that receives all rays coming from an object or a target region to be scanned, and increases the received light amount through a combination of a convex lens and a concave lens. It serves to collect light coming from a wide aperture into a narrow area to increase sensitivity.

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

The near infrared ray separated from the special prism 220 is reflected from the inside and goes to the near infrared lens 240-1 constituting the near-infrared optical and amplifying unit 240, and all R, G, and B visible rays are directly transmitted to separate the visible primary color. Go straight to the first wavelength-selective dichroic mirror 230-1 constituting the optical unit 230.

In the first transmissive mirror for each color line (dichroic mirror: 230-1), light having a wavelength of 610 nm or longer is reflected and proceeds in the direction of the first reflective mirror 230-3, and other visible light Immediately penetrates and enters the second color sorting translucent mirror (230-2).

The second color-coded translucent mirror 230-2 reflects blue light having a wavelength of 470 nm or shorter wavelength, and is reflected into the normal second reflection mirror 230-3, and is in the vicinity of green with a remaining wavelength of 500 to 600 nm. The light proceeds straight through and passes through and enters the third focus adjustment lens 230-12.

As described above, the translucent mirrors 230-1 and 230-2 for each color line separate the three primary colors of R (emission), G (green), and B (blue) from visible light.

As described above, the light coming from the receiving objective lens 210 is separately processed into four light paths of near infrared light, visible light R, visible light G, and visible light B, which are respectively 1 to 4 focusing lenses 240-1, 230 -11, 230-12, 230-13), and first to fourth color band-pass interference filters (240-2, 230) that pass only light having near infrared, red, green, and blue colors, respectively. After passing through -21, 230-22, and 230-23, avalanche photo diode (APD) 240-3, 230-31, 230-32, which is a semiconductor device that receives light and converts it into electric current 230-33).

Their weak analog signals, which became electrical signals afterwards, enter each of the signal amplifiers (240-4, 230-41, 230-42, 230-43) and are amplified into large signals, respectively, R signals, G signals, B Signal and NIR signal are analog output.

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 produce a Y signal with luminance, which is a signal synthesis and mode selector ( It is made by a voltage synthesis circuit consisting of resistors 260-1, 260-2, 260-3, 260-4).

The signal synthesizing circuits 260-5 for each mode are synthesized with each other using the input luminance signal (Y), near infrared (NIR), and sync pulses from the synchronization signal generator 250, or the main controller (MPU). ) The signal suitable for the output terminal is output according to the instruction of 310.

That is, it is used to output the image to the external TV or display by synthesizing the Y signal and the sync pulse to make the Y'signal, which is a synchronization luminance signal.

Also, a Y signal or a NIR signal is output to the output as needed. In other words, in the laser scan mode using only near infrared rays (NIR), as well as outputting the NIR signal and processing in the analog-to-digital converter 370-1, the signal processing is entered, and the laser scan mode using only visible light In, the Y signal is output to the output, and the R, G, B, and Y signals are converted to digital signals by the corresponding analog-to-digital converter (ADC) (360-1, 360-2, 360-3, 370-1). Signal processing is entered later.

Next, the circuits corresponding to the signal processing and the control unit will be described. The timing detector 380 receives the Y signal or the NIR signal, detects this by receiving a reflected signal when a signal exceeding the appropriately set threshold level is inputted to increase the level. Then, it is sent to the time-to-digital converter 390 to convert the difference between the transmission laser pulse emission time and the reflected wave reception time, that is, the time difference into a digital physical quantity, and convert it into a distance of an object. This is all 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, and 370-1 in the digital signal processing process and output from the time-to-digital converter 390 Values (distance information) and input values from other satellite location information (GPS), etc., are synthesized in one format by the data multiplexer 350-1 and stored in the memory 320 through the main controller 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 operated by the main control device 360.

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 provides an interface for necessary control.

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

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

The scope of the present invention is not limited to the above-described embodiments, but may be implemented in various types of embodiments within the scope of the appended claims. Any person having ordinary skill in the art to which the present invention pertains without departing from the gist of the present invention claimed in the claims is considered to be within the scope of the claims of the present invention to a wide range that can be modified.

It is revealed that the present invention was made with the support of the following national R&D projects.

Assignment No.: N0002431

Department name: Ministry of Trade, Industry and Energy

Research management agency: Korea Industrial Technology Agency

Research Project Title: Industrial unmanned flight equipment manpower training project

Contribution rate: 1/1

Host organization: Hoseo University Industry-Academic Cooperation Foundation

Research period: 2017.03.01 ~ 2022.02.28

Claims

A transmitter configured to generate a laser pulse signal according to the signal processing and a control signal of the control unit and scan the target region in two dimensions;

A receiver configured to separate the laser pulse reflected from the target region into visible light and near-infrared, and output a visible light signal and a near-infrared signal, and generate and output a luminance signal of a black and white signal using the separated visible light; And

The control unit outputs a control signal, and converts the visible light signal, the luminance signal, and the near-infrared signal separated from the receiver into a digital signal, so that the visible light signal converted into a digital signal and a digital data stream of the near-infrared signal are connected to the distance information. A laser scanning device comprising a signal processing and control unit multiplexing together.
The method according to claim 1,

The transmitting unit

A pulse modulation and switching unit that receives a control signal from the signal processing and control unit and makes a short-width pulse signal to switch it;

A laser pulse generator for generating and outputting an actual laser pulse according to the pulse modulation and switching of the switching unit; And

A laser scanning device including a laser two-dimensional scanning unit that transmits a laser pulse signal generated by the laser pulse generating unit to a target region to be imaged and performs two-dimensional scanning in the X and Y axes.
The method according to claim 2,

The pulse modulation and switching unit

A pulse modulator that receives a control signal trigger pulse from the signal processing and control unit to generate a square wave pulse; 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.
The method according to claim 2,

The laser pulse generator

A pair of laser diodes;

A pair of collimators in which the pair of laser diodes correspond to each of the laser diodes to aggregate laser beam rays into dots;

A pair of adapters that connect and connect the laser beam generated corresponding to each focuser to a single mode optical fiber cable;

An optical directional coupler that synthesizes and outputs laser beams output from the pair of adapters; And

And an output adapter for emitting a laser beam from the light directional coupler to the laser two-dimensional scanning unit.
The method according to claim 4,

In the pair of laser diodes, one laser diode includes a near-infrared (NIR) wavelength 905 nm near-infrared laser diode and a red laser diode with a wavelength of 610 nm.

The other laser diode is a laser scanning device in which a green laser diode with a wavelength of 535 nm and a blue laser diode with a wavelength of 470 nm are incorporated together.
The method according to claim 2,

The laser two-dimensional scanning unit

A vertical reflection mirror that vertically reflects the laser pulse emitted from the laser pulse generator;

A horizontal reflection mirror that horizontally reflects the laser pulse 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 that controls vertical and horizontal motors under the control of the signal processing and control unit;

A vertical encoder that encodes the address of the vertical axis;

A horizontal encoder that encodes the address of the horizontal axis; And

And a scan address multiplexer for multiplexing and outputting an address of a vertical axis output through the vertical encoder and an address of a horizontal axis output through the horizontal encoder.
The method according to claim 1,

The receiving unit

A receiving objective lens for focusing the laser pulse reflected from the target region;

A laser signal separation unit for receiving the laser pulse focused from the receiving objective lens and separating and outputting visible light and near infrared rays;

A visible light primary color separation optical unit for separating and outputting a primary color from the visible light; And

A laser scanning device including a signal synthesis and a mode selection unit to generate and output a luminance signal of a black and white signal by synthesizing the primary colors separated from the visible light primary color separation optical unit.
The method according to claim 7,

The receiving objective lens is a laser scanning device that receives and focuses a laser pulse of near infrared (NIR), which is visible light and invisible light.
The method according to claim 7,

The visible light primary color separation optical unit

A first translucent mirror that reflects light of a long wavelength that is 610 nm in red and passes light of the remaining wavelength; And

A light having a short wavelength of blue at 470 nm reflects from the light passed through the first color sorting translucent mirror, and includes a second color sorting translucent mirror that transmits light having a medium wavelength near green having a wavelength of 500 to 600 nm. Laser scanning device.
The method according to claim 7,

The receiving unit

A synchronization signal generator for generating a synchronization signal; And

Further comprising a near-infrared optical and amplifying unit for amplifying and outputting the near-infrared separated from the laser signal separation unit,

The signal synthesis and mode selection unit generates a synchronization luminance signal by synchronizing the synchronization signal generated by the synchronization signal generation unit with the luminance signal, outputs the laser signal, and receives and outputs the near-infrared signal output from the near-infrared optical and amplification unit. Device.
The method according to claim 10,

The signal processing and control unit

Amplifies the primary color of visible light separated from the visible light primary color separation optical unit, converts the analog signal type into a digital signal, and converts the luminance signal, synchronized luminance signal, and near-infrared signal, which are output signals from the signal synthesis and mode selector, into digital signals. Analog-to-digital conversion module; And

A laser scanning device including a digital data format processing unit in which a digital data stream of a visible light signal and a near infrared signal converted into a digital signal in the analog digital conversion module is multiplexed together with distance information.
The method according to claim 11,

The analog-to-digital conversion module

A first analog-to-digital conversion unit for amplifying the primary color of visible light separated from the visible light primary color separation optical unit and converting an analog signal form into a digital signal; And

A laser scanning device including a second analog-to-digital conversion unit for converting a luminance signal, an output signal synchronized with a mode selection unit, and a near-infrared signal into a digital signal.
The method according to claim 11,

The signal processing and control unit

A timing detection unit detecting a pulse detection time from the signal synthesis and the output signal of the mode selection unit; And

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 at which the laser pulse is sent from the transmission unit into a digital signal and outputting it as distance information.
The method according to 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 it to the outside through a communication port.
The method according to claim 1,

The laser scanning device further includes a power supply unit including a battery that generates various voltages required for circuit operation and supplies the circuit to a circuit, and a high voltage circuit that supplies and supplies high voltage to the transmitter and receiver.
A pulse modulation and switching unit that receives a control signal from the main control device and switches the laser pulse generator;

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 generating unit to a target region to be imaged and performs two-dimensional scanning in the X and Y axes;

A receiving objective lens for focusing the laser pulse reflected from the target region;

A laser signal separation unit that receives the laser pulse focused from the receiving objective lens and separates and outputs visible light;

A visible light primary color separation optical unit for separating and outputting a primary color from the visible light;

A synchronization signal generator for providing a synchronization signal;

A near-infrared optical and amplifying unit for amplifying and outputting near-infrared separated from the laser signal separation unit;

The primary colors separated from the visible light primary color separation optical unit are synthesized to generate and output a luminance signal of a black and white signal, and the synchronization signal generated by the synchronization signal generator is synthesized to the luminance signal to generate and output a synchronized luminance signal, A signal synthesis and mode selection unit for receiving and outputting the near infrared signal output from the near infrared optical and amplifying unit;

Amplifies the primary color of visible light separated from the visible light primary color separation optical unit, converts the analog signal type into a digital signal, and converts the luminance signal, synchronized luminance signal, and near-infrared signal, which are output signals from the signal synthesis and mode selector, into digital signals. Analog-to-digital conversion module;

A digital data format processing unit in which a digital data stream of a visible light signal and a near infrared signal converted into a digital signal in the analog digital conversion module is multiplexed together with distance information; And

A laser scanning device including 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 it to the outside through a communication port.