3D SCANNING SYSTEM AND METHOD OF OBTAINING 3D IMAGE

• US 20140111812A1
• Filed: 12/20/2012
• Published: 04/24/2014
• Est. Priority Date: 05/22/2012
• Status: Active Grant

• Current Assignee: korea institute of industrial technology
• Original Assignee: korea institute of industrial technology
• Inventors: Baeg, Seung-Ho, Park, Sang-Deok, Shin, Jin-Ok, Cho, Kuk
• Granted Patent: US 9,091,535 B2
• Time in Patent Office: Days
• US Class Current: 356/610
• CPC Class Codes: G01B 11/25 by projecting a pattern, e.g. one or more lines, moiré fringes on the object G01B11/255 takes precedence ; image analysis for depth or shape recovery G06T7/50
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4814 of transmitters alone
• CPC Class Codes: G01S 7/4817 relating to scanning

Abstract

Disclosed are a 3D laser scanning system and a method of obtaining a 3D image by using the system that detect, with a linear array type photo detector, a reflected light reflected from a target after rotation-emitting a line-shaped pulsed laser light through 360 degrees and obtain a 3D image through point cloud data obtained by measuring a distance to the target.

Claims

1. A 3D scanning system emitting a line-shaped pulsed laser light, detecting a light reflected from a target, and generating a 3D image through point cloud data obtained by calculating the distance to the target, the 3D scanning system comprising:

a laser source emitting a pulsed laser light,

one or more light transmitting and receiving modules comprising a light transmitter that emits the pulsed laser light to the outside in a vertical line shape, and a photo detector that detects and converts the reflected pulsed laser light into an electrical signal; and

a driving motor rotating the one or more light transmitting and receiving modules.

3. The 3D scanning system of claim 1, wherein the light transmitter comprises a collimator that aligns the optical axis of the pulsed laser light provided from the laser source;

and a lens that makes the light passing through the collimator as a line shaped light, and

the photo detector comprises a lens focusing the reflected light, a filter filtering the reflected light, and a linear array type photo detector that generates an electrical signal from the filtered light.

7. The 3D scanning system of claim 1, wherein the laser source is installed to correspond to the number of the light transmitting and receiving modules.

2. A 3D scanning system emitting a line-shaped pulsed laser light, detecting a light reflected from a target, and generating a 3D image through point cloud data obtained by calculating the distance to the target, the 3D scanning system comprising:

a laser source emitting a pulsed laser light,

two or more light transmitting and receiving modules comprising a light transmitter that emits the pulsed laser light to the outside in a vertical line shape, and a photo detector that detects and converts the reflected pulsed laser light into an electrical signal; and

a driving motor rotating the two or more light transmitting and receiving modules; and

wherein a light emission angle of at least one of the two or more light transmitting and receiving modules is different from that of the other light transmitting and receiving module.

4. The 3D scanning system of claim 2, wherein the light transmitting and receiving modules comprise a first light transmitting and receiving module and a second light transmitting and receiving module that are arranged to allow light transmission and reception to be performed in opposite directions.

5. The 3D scanning system of claim 4, wherein the light emission angle of the first light transmitting and receiving module is two or more times larger than the light emission angle of the second light transmission and reception module.

6. The 3D scanning system of claim 4, wherein the light emission angle of the first light transmitting and receiving module is larger than the light emission angle of the second light transmission and reception module, and

the light emission angle of the second light transmitting and receiving module is set to maintain a light emission angle that is sufficient to cover a predetermined height in a detection limit distance of the first light transmitting and receiving module.

23. The 3D scanning system of claim 2, wherein the light transmitter comprises a collimator that aligns the optical axis of the pulsed laser light provided from the laser source;

and a lens that makes the light passing through the collimator as a line shaped light, and

the photo detector comprises a lens focusing the reflected light, a filter filtering the reflected light, and a linear array type photo detector that generates an electrical signal from the filtered light.

24. The 3D scanning system of claim 2, wherein the laser source is installed to correspond to the number of the light transmitting and receiving modules.

8. A 3D scanning system emitting a line-shaped pulsed laser light, detecting a light reflected from a target, and generating a 3D image through point cloud data obtained by calculating the distance to the target, the 3D scanning system comprising:

a fixed part and a rotating part that is coupled to the upper part of the fixed part,

wherein the fixed part comprises a motor for driving the rotating part and a laser source for generating the pulsed laser light, and

the rotating part comprises a rotary power supplying device coupled to the motor, a light splitting module that splits the pulsed laser light into two or more pulsed laser lights, and two or more light transmitting and receiving modules that comprise a photo transmitter that emits the split pulsed laser light to the outside in a vertical line shape and a photo detector that detects and converts the reflected pulsed laser light into an electrical signal.

9. The 3D scanning system of claim 8, wherein a light emission angle of at least one of the two or more light transmitting and receiving modules is different from that of the other light transmitting and receiving module.

10. The 3D scanning system of claim 8, wherein a pulsed laser light generated from the laser source is emitted upwardly through the cavity formed in the center of the rotating part and reaches the light splitting module.

11. The 3D scanning system of claim 8, wherein the motor is a hollow shaft motor, and a hollow type multi-contact slip ring is arranged on the hollow shaft motor to supply power to the rotating part.

12. The 3D scanning system of claim 8, wherein the rotating part further comprises a cover having two or more windows to emit the pulsed laser light, and a separating unit fixed to the cover and holding the two or more light transmitting and receiving modules, and the separating unit comprises a through hole for passing the pulsed laser light and the light splitting module is arranged near the through hole.

13. The 3D scanning system of claim 12, wherein the light splitting module comprises a support fixed to the separating unit and comprising the through hole for passing the pulsed laser light, a beam splitter arranged on the through hole of the support and splitting the pulsed laser light, and a plurality of mirrors fixed to the support and guiding a split pulse laser to a predetermined path.

16. The 3D scanning system of claim 8, wherein the two or more light transmitting and receiving modules comprise a first light transmitting and receiving module and a second light transmitting and receiving module, and the first and second light transmitting and receiving modules are symmetrically arranged to allow emission and reception of the pulsed laser light to be performed in opposite directions.

19. The 3D scanning system of claim 8, wherein the rotating part comprises a control board that comprises:

a control module for controlling the whole sensor system; and

a data processing module for generating 3D image data.

20. The 3D scanning system of claim 19, wherein the control board further comprises a wireless communication unit for delivering generated 3D image data to a user.

14-15. -15. (canceled)

17-18. -18. (canceled)

21-22. -22. (canceled)