Three-dimensional information acquisition apparatus using optical system

Abstract

The present invention relates to a three-dimensional information acquisition apparatus for acquiring an image of each surface of a subject by using an optical system, comprising: a first reflective mirror having a reflective surface inclined at a preset angle; a second reflective mirror having a reflective surface inclined at an angle symmetrical to the reflective surface of the first reflective mirror so as to form a V-shaped curve with the reflective surface of the first reflective mirror; a slit formed between the first reflective mirror and the second reflective mirror; a transparent plate which is formed at a predetermined height from the slit of the V-shaped curve, and on which the subject is seated; a light irradiation unit formed, with the center of the slit as the center thereof, so as to irradiate structured light having a preset pattern to the transparent plate on which the subject is seated and a capturing area including the first reflective mirror and the second reflective mirror; and an imaging unit for acquiring an image of the capturing area.

Description

A device for acquiring three-dimensional information using an optical system

[0001] The present invention relates to a device for obtaining images of each side of a subject that can obtain three-dimensional information using an optical system including a pair of reflective mirrors.

[0002] In general, three-dimensional information of a subject can be acquired based on depth information of each region of the subject's shape obtained from images of different sides of the subject. That is, depth information for each region according to the shape of each side of the subject is measured from images acquired from each of the different sides of the subject, and three-dimensional curvature information of the shape of a specific side of the subject, i.e., side stereoscopic information of one side, can be collected based on a combination of the measured depth information. In addition, when side stereoscopic information for all sides of the subject is acquired, three-dimensional information about the three-dimensional shape of the subject can be formed by combining the acquired side stereoscopic information.

[0003] Accordingly, in order to obtain stereoscopic information of an object for which stereoscopic information is to be obtained, that is, stereoscopic information of a subject, image information of different sides of the subject must first be obtained, and various studies have been conducted to obtain image information of each different side of the subject.

[0004] As part of this research, a method has emerged that utilizes multiple cameras positioned in different directions to acquire image information from each of multiple aspects of the subject. This method involves positioning multiple cameras, each pointing toward a different aspect of the subject, and using the images acquired from each camera to acquire three-dimensional information about the subject.

[0005] This method has the advantage of using multiple independently operated cameras to capture images of different aspects of the subject, allowing for images of various aspects of the subject to be captured depending on the number and placement of the cameras. However, this method suffers from the drawback of being bulky due to the use of multiple cameras, and is also very expensive.

[0006] Meanwhile, to solve these shortcomings, a method has emerged of acquiring images of each side of a rotated or moved subject with a single camera while changing the subject's posture or position, etc., using a turntable, etc. However, although this method has the advantage of reducing cost and volume by using a single camera, it has the problem of requiring a long time since the subject's posture or position, etc. must be changed one by one and images must be acquired separately, and in addition, a complex procedure is required to reduce errors when synthesizing stereoscopic information, such as precisely aligning the subject according to the surface from which stereoscopic information is to be acquired.

[0007] Accordingly, research is currently being actively conducted on a device that can acquire three-dimensional information of a subject in a simpler, faster, less costly, and smaller volume.

[0008] The present invention aims to solve the above-mentioned problem, and provides a three-dimensional information acquisition device capable of acquiring images of each side of a subject in order to acquire information about the three-dimensional shape of the subject in a short period of time while having a simple structure.

[0009] In addition, the present invention aims to solve the above-mentioned problem and other problems, and provides a stereoscopic information acquisition device capable of simultaneously acquiring images of four sides (top, bottom, left, and right sides) of a subject using one optical module.

[0010] According to one aspect of the present invention to achieve the above or other purposes, a stereoscopic information acquisition device according to an embodiment of the present invention is characterized by including a first reflection mirror having a reflection surface inclined at a preset angle, a second reflection mirror having a reflection surface inclined to form a V-shaped curve with the reflection surface of the first reflection mirror, a slit formed between the first reflection mirror and the second reflection mirror, a transparent plate formed at a predetermined height from the slit and on which a subject is placed, a light irradiation unit formed to irradiate structured light having a preset pattern to a shooting area including the transparent plate on which the subject is placed and the first and second reflection mirrors, with the center of the slit as the center, and an imaging unit formed to acquire an image of the shooting area.

[0011] In one embodiment, the transparent plate is connected to a support protruding from the center of the slit and is formed to overlap a portion of one of the first and second reflective mirrors adjacent to the center of the slit.

[0012] In one embodiment, the transparent plate is characterized in that a support portion made of a transparent material protruding from at least a portion of the slit is formed by bending toward one of the first and second reflective mirrors.

[0013] In one embodiment, the light irradiation unit irradiates the structured light in a direction perpendicular to the center of the slit, and the imaging unit acquires an image of the photographing area at an angle inclined at a predetermined angle with respect to the center of the slit from a direction perpendicular to the center of the slit.

[0014] In one embodiment, the transparent plate is characterized in that it is arranged so as to be inclined at a predetermined angle with respect to the horizontal plane so as to vertically face the lens of the imaging unit.

[0015] In one embodiment, the predetermined angle is characterized as being an angle within 15 degrees to 45 degrees.

[0016] In one embodiment, the image of the photographing area is characterized by including a top image of a subject mounted on the transparent plate, which is a real image, a left-side image and a right-side image, which are virtual images formed by reflecting the left and right shapes of the subject on the first and second reflective mirrors, respectively, and a bottom image, which is a virtual image formed by reflecting the bottom shape of the subject transmitted through the transparent plate on the first and second reflective mirrors.

[0017] In one embodiment, the top image, the left image, the right image, and the bottom image are formed at different positions within the image of the photographing area according to different virtual image distances depending on the distance between the subject and the first or second reflective mirror and the distance between the reflective surface of one of the first and second reflective mirrors and the other reflective surface.

[0018] In one embodiment, the left-side image and the right-side image are formed at a position spaced apart from the top image by a horizontal distance according to a first or second separation distance between the subject and the first or second reflective mirror, and a vertical distance according to a first or second virtual distance corresponding to the first or second separation distance, respectively, and the bottom image is formed at a position spaced apart from the top image by a horizontal distance symmetrical with respect to the top image based on the slit, and a vertical distance according to a third virtual distance corresponding to the sum of the distances of a first distance between the bottom of the subject and a reflection point of the first reflective mirror where the bottom shape of the subject is reflected, and a second distance between the reflection point of the second reflective mirror where the bottom shape reflected on the first reflective mirror is reflected and the reflection point of the first reflective mirror.

[0019] In one embodiment, the stereoscopic information acquisition device further includes a memory for storing an image of the shooting area, and a control unit for controlling the light irradiation unit and the imaging unit, wherein the control unit is characterized in that it compensates for the size of each image in the stored image of the shooting area according to a virtual distance corresponding to each image.

[0020] In addition, a stereoscopic information acquisition device according to an embodiment of the present invention comprises: a first reflection mirror having a reflection surface inclined at a preset angle; a second reflection mirror having a reflection surface inclined to form a V-shaped curve with the reflection surface of the first reflection mirror; a slit formed between the first reflection mirror and the second reflection mirror; a transparent plate connected to a support portion protruding from the center of the slit, on which a subject is placed; a rotation portion that rotates the support portion so that the transparent plate rotates; a lift portion that changes the height of the support portion so that the height of the transparent plate is changed; a light irradiation portion formed to irradiate structured light having a preset pattern to a shooting area including the transparent plate on which the subject is placed and the first and second reflection mirrors, with the center of the slit as the center; an imaging portion formed to acquire an image of the shooting area; and controlling the light irradiation portion to irradiate the structured light, controlling the rotation portion so that the transparent plate rotates by a preset angle, and controlling the lift portion so that the height of the plate is changed, and controlling the rotation portion so that the transparent plate is rotated or the height is changed. It is characterized by including a control unit that controls the imaging unit to acquire an image of the shooting area including real and virtual images of each side of the subject.

[0021] In one embodiment, the control unit is characterized in that the imaging unit controls the imaging unit to acquire a real top image of the subject while the transparent plate is positioned at a first height, acquire left and right side or front and back images of the subject while the transparent plate is changed in height to a second height according to a virtual image distance corresponding to a distance between the subject and the first or second reflective mirror, and acquire a bottom image of the subject while the transparent plate is changed in height to a third height according to a virtual image distance corresponding to a distance between the bottom surface of the subject and the reflective surface of the first reflective mirror on which the bottom shape of the subject is reflected, and a distance between the reflective surface of the second reflective mirror on which the bottom shape reflected in the first reflective mirror is reflected and the reflective surface of the first reflective mirror.

[0022] In one embodiment, the second height is characterized in that the transparent plate is closer to the imaging unit than the first height, and the third height is characterized in that the transparent plate is closer to the imaging unit than the second height.

[0023] In one embodiment, the subject is positioned at the center of the transparent plate, and the stereoscopic information acquisition device includes a memory including information of the second height calculated in advance according to a virtual distance corresponding to a distance between the center of the plate and the first or second reflective mirror, and a third height calculated in advance according to a virtual distance corresponding to the sum of a first distance between a preset position corresponding to the third height and a reflective surface of the first reflective mirror from the preset position, and a second distance between a reflection point of the first reflective mirror corresponding to the preset position and a reflection point of the second reflective mirror corresponding to the reflection point of the first reflective mirror, wherein the preset position corresponding to the third height is a position closer to one of the first and second reflective mirrors from the center of the slit.

[0024] In one embodiment, the stereoscopic information acquisition device further includes a picker that grips a subject placed on the transparent plate and changes the position of the gripped subject, and the control unit controls the picker to grip the subject and move the gripped subject to a preset position corresponding to the third height in a state where the height of the transparent plate is changed to the third height, and controls the imaging unit to acquire the bottom image in a state where the subject is moved to the preset position.

[0025] In one embodiment, the light irradiation unit is formed to irradiate structured light having different patterns to different areas of the photographing area, and the structured light having different patterns is characterized in that it is structured light having different band intervals or band directions.

[0026] In one embodiment, the light irradiation unit is characterized in that it irradiates a first structured light to a first region, which includes a real top image of the subject and a virtual bottom image of the subject among the photographing areas, with the slit as the center, and irradiates a second structured light, which is different from the first structured light, to a second region, which includes virtual left and right or front and rear side images of the subject among the photographing areas.

[0027] According to at least one embodiment of the present invention, the present invention comprises a pair of reflective mirrors inclined at a preset angle, and when structured light having a preset pattern is irradiated onto a subject positioned at the center of the pair of reflective mirrors, a virtual image of each side of the subject formed on the pair of reflective mirrors by the structured light can be obtained. Accordingly, the present invention has the effect of being able to simultaneously obtain images of four sides of the subject.

[0028] In addition, the present invention comprises a light irradiation unit that irradiates structured light to the pair of reflective mirrors, and an imaging unit arranged so that the incident angle of the structured light and the line of sight (LOS) at which the structured light is irradiated from the center of a slit formed between the pair of reflective mirrors are inclined by a preset angle, and the imaging unit acquires real and virtual images of the subject formed in different areas of the reflective mirrors, thereby simultaneously acquiring four-sided images of the subject. Accordingly, the present invention has the effect of easily acquiring three-dimensional information on each side of the subject using only one optical module composed of one light irradiation unit and one camera.

[0029] FIG. 1 is a block diagram illustrating the configuration of a three-dimensional information acquisition device according to an embodiment of the present invention.

[0030] FIG. 2 is an exemplary diagram showing an example of the arrangement of an optical system, a light irradiation unit, and an imaging unit in a stereoscopic information acquisition device according to an embodiment of the present invention.

[0031] FIG. 3 is a conceptual diagram for explaining in more detail the structure of the optical system in a stereoscopic information acquisition device according to an embodiment of the present invention.

[0032] FIG. 4 is a conceptual diagram illustrating an image acquired from an imaging unit in a stereoscopic information acquisition device according to an embodiment of the present invention.

[0033] FIG. 5 is an exemplary diagram showing an example of compensating for size errors on each side of a subject according to different virtual distances in a stereoscopic information acquisition device according to an embodiment of the present invention.

[0034] FIG. 6 is a flowchart illustrating an operation process for acquiring a six-sided image of a subject in a stereoscopic information acquisition device according to another embodiment of the present invention.

[0035] FIG. 7 and FIG. 8 are exemplary diagrams for explaining examples of each operation step for obtaining a six-sided image of a subject according to the operation process of FIG. 6.

[0036] FIG. 9 is an exemplary diagram illustrating an example in which a light irradiation unit irradiates structured light of different patterns to different areas of a reflective mirror in a stereoscopic information acquisition device according to an embodiment of the present invention.

[0037] FIG. 10 is an exemplary diagram showing other examples of reflective mirrors forming an optical system in a stereoscopic information acquisition device according to an embodiment of the present invention.

[0038] It should be noted that the technical terms used herein are used merely to describe specific embodiments and are not intended to limit the present invention. Furthermore, singular expressions used herein include plural expressions unless the context clearly dictates otherwise. The suffixes "module" and "part" used in the following description for components are assigned or used interchangeably solely for the convenience of writing the specification, and do not in themselves have distinct meanings or roles.

[0039] In this specification, the terms “comprises” or “includes” should not be construed to necessarily include all of the components or steps described in the specification, and some of the components or steps may not be included, or additional components or steps may be included.

[0040] In addition, when describing the technology disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the technology disclosed in this specification, the detailed description is omitted.

[0041] In addition, the attached drawings are only intended to facilitate easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, or substitutes included in the spirit and technical scope of the present invention. In addition, not only each embodiment described below, but also a combination of embodiments may correspond to the spirit and technical scope of the present invention as modifications, equivalents, or substitutes included in the spirit and technical scope of the present invention.

[0042] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings.

[0043] FIG. 1 is a block diagram illustrating the configuration of a stereoscopic information acquisition device according to an embodiment of the present invention. FIG. 2 is an exemplary diagram illustrating an example of the arrangement of an optical system, a light irradiation unit, and an imaging unit in a stereoscopic information acquisition device according to an embodiment of the present invention. FIG. 3 is a conceptual diagram illustrating in more detail the structure of the optical system in a stereoscopic information acquisition device according to an embodiment of the present invention.

[0044] First, referring to FIG. 1, a stereoscopic information acquisition device (10) according to an embodiment of the present invention may be formed by including a light irradiation unit (120) that irradiates structured light of a preset pattern, a measurement unit (100) including an imaging unit (130), and an optical system (200) including a pair of reflective mirrors. The components illustrated in FIG. 1 are not essential for implementing the stereoscopic information acquisition device (10), and thus the stereoscopic information acquisition device (10) described in this specification may have more or fewer components than the components listed above.

[0045] Referring to FIG. 1, a measuring unit (100) constituting a three-dimensional information acquisition device (10) according to an embodiment of the present invention may be configured to include a control unit (110), a light irradiation unit (120), an imaging unit (130), and a memory (140) connected to the control unit (110) and controlled by the control unit (110).

[0046] And the optical system (200) may be configured to include an optical system (200) including a first reflection mirror (201) arranged to form a predetermined angle (e.g., 45 degrees) with the horizontal plane as shown in (a) of FIGS. 2 and 3, and a second reflection mirror (202) arranged to face the first reflection mirror (202) at an angle symmetrical to the predetermined angle with respect to the normal line of the horizontal plane.

[0047] Here, the first reflection mirror (201) and the second reflection mirror (202) may be arranged to be spaced apart from each other by a preset distance. As a result, a slit (203) may be formed between the first reflection mirror (201) and the second reflection mirror (202). Here, since the first reflection mirror (201) and the second reflection mirror (202) are arranged to face each other at a symmetrical angle, the first reflection mirror (201) and the second reflection mirror (202) may be arranged in a V-shaped form, as shown in (a) of FIGS. 2 and 3. In addition, the slit (203) may be formed between the first reflection mirror (201) and the second reflection mirror forming the V-shaped form, and the center (205) of the slit (203) may be the center of the optical system (200).

[0048] Meanwhile, the optical system (200) may further be provided with a plate (208) on which an object to acquire three-dimensional information is to be placed, as shown in (a) of FIG. 3, and a support member (207) that supports the plate (208). Here, the support member (207) may be formed to protrude from the slit (203), and the plate (208) may be formed to be coupled to the support member (207) so that the plate (208) is placed thereon. In this case, the plate (208) may be formed to overlap only one of the first and second reflection mirrors (201, 202), as shown in (a) of FIG. 3. The plate (208) may be formed of a transparent material so that structured light distorted by the surface of the object may be transmitted therethrough. In addition, the support member (207) may also be formed of a transparent material so that the distorted structured light may be transmitted therethrough.

[0049] For example, the plate (208) may be formed as an extension of a support portion (207) protruding from the slit (203). That is, the plate (208) may be formed by bending the support portion (207) made of a transparent material protruding from at least a portion of the slit (203) with the center (205) of the slit (203) as the center by 90 degrees toward the first reflection mirror (201) or toward the second reflection mirror (202) as shown in FIG. 3 (a) and FIG. 3 (b). In this case, as shown in (a) of FIG. 3, the plate (208) may not overlap with one of the first and second reflective mirrors (201, 202) (the first reflective mirror (201) in (a) of FIG. 3), and accordingly, a virtual image may be formed in the non-overlapping area of ​​the reflective mirror (e.g., the first reflective mirror (201)) due to the structured light reflected from another reflective mirror (e.g., the second reflective mirror (202)).

[0050] Meanwhile, looking at each configuration of the measuring unit (100), the light irradiation unit (120) may include at least one projector formed to irradiate structured light having a preset pattern to the entire optical system (200), i.e., the area including the first and second reflective mirrors (201, 202), as shown in (b) of FIG. 3, with the center of the optical system (200) as the center.

[0051] Here, the structured light refers to light having a preset pattern, such as a horizontal or vertical bar or grid, and may refer to light having a pattern in which the brightness of the light changes periodically at regular intervals (bands). In this case, the brightness of the light may change discretely in the form of a square wave or continuously (analog) in the form of a sine wave. More preferably, the structured light may be light in which the brightness of the light continuously brightens and darkens repeatedly in the form of a sine wave at the period of the vertical or horizontal bands. The structured light having such a light pattern may be distorted differently when reflected on the surface of the subject. In addition, the distorted structured light may be reflected on the first and second reflecting mirrors (201, 202) to form virtual images on the first and second reflecting mirrors (201, 202).

[0052] And, as shown in Fig. 2, the imaging unit (130) may be arranged to acquire images of virtual images, i.e., images formed on a pair of reflective mirrors (201, 202) included in the optical system (200). To this end, the imaging unit (130) may include at least one camera arranged so that the point of view is directed toward the center of the optical system (200).

[0053] Here, the imaging unit (130) may be arranged to be inclined by a preset angle from the light incidence angle of the light irradiation unit (120), that is, the incidence angle of the structured light (204) that the light irradiation unit (120) irradiates toward the center of the optical system (200). That is, as shown in FIG. 2, the imaging unit (130) may be arranged so that the line of sight (209) of at least one camera provided in the imaging unit (130) forms the preset angle (206) with the light incidence angle (90 degrees) of the structured light (204) formed perpendicular to the center (205) of the optical system (200).

[0054] In this way, since the line of sight (209) of the imaging unit (130) does not match the light incidence angle of the structured light (204) and is tilted by a certain angle (206), the distance from each area of ​​the optical system (200), i.e., the pair of reflective mirrors (201, 202), to the camera lens of the imaging unit (130), i.e., the measured distance, may be different for each area of ​​the pair of reflective mirrors (201, 202). More preferably, the angle between the line of sight (209) of the imaging unit (130) and the structured light (204) may be an angle between 15 degrees and 45 degrees. For example, the angle between the line of sight (209) and the structured light (204) may be 30 degrees.

[0055] And the memory (140) can store a plurality of application programs (or applications) and data and commands for driving the stereoscopic information acquisition device (10). For example, the memory (140) can store data related to drivers and parameters for the control unit (110) to control the imaging unit (130) and the light irradiation unit (120). In addition, the memory (140) can store at least one application program or application for correcting the images of each side of the subject acquired by the imaging unit (130). In addition, the memory (140) can further store at least one application program or application for calculating depth information of each part according to the stereoscopic shape of each side of the subject from the images of each side of the subject acquired by the imaging unit (130), analyzing the side stereoscopic information for each side of the subject based on the calculated depth information, and combining the analyzed plurality of side stereoscopic information. For example, the memory (140) can store data on the control order of each component of the stereoscopic information acquisition device (10) that must be sequentially driven to acquire stereoscopic information of a subject, and control data for controlling each component in each process.

[0056] Meanwhile, the control unit (110) can control the overall operation of the stereoscopic information acquisition device (10). The control unit (110) can control the light irradiation unit (120) so that structured light (204) having a preset pattern is irradiated to the optical system, and can control the imaging unit (130) to acquire images of the first and second reflective mirrors (201, 202). Here, virtual images are formed by distorted structured light reflected on the surface of the subject on the first and second reflective mirrors (201, 202), so the imaging unit (130) can acquire images of virtual images in which the structured light is reflected on the first and second reflective mirrors (201, 202).

[0057] Here, the subject can be placed on the plate (208). In this case, since the plate (208) is formed to overlap only a portion of one of the first and second reflection mirrors (201, 202) as shown in (a) and (b) of FIG. 3, the subject placed on the plate (208) can be placed so as to overlap only a portion of one of the first and second reflection mirrors (201, 202) rather than the center of the optical system (200). For example, when the plate (208) is formed to overlap only a portion of the second reflection mirror (202) as shown in (a) and (b) of FIG. 3, the subject can be placed so as to overlap only the second reflection mirror (202).

[0058] Alternatively, another plate according to an embodiment of the present invention may be formed so that its center coincides with the center of the slit (203), unlike as shown in (a) and (b) of the above FIG. 3, and overlaps both the first and second reflective mirrors (201, 202). Here, the subject may be seated at the center of the other plate, and in this case, the central axis of the other plate and the central axis of the subject may coincide. For example, if the plate (208) described in (a) and (b) of the above FIG. 3 is formed in a semicircular shape so as to overlap only a portion of the second reflective mirror (202), the other plate according to an embodiment of the present invention may be formed in the shape of a circle centered on the center of the slit (203) so as to overlap both the first and second reflective mirrors (201, 202).

[0059] Hereinafter, a stereoscopic information acquisition device including an optical system according to an embodiment of the present invention in which the other plate is provided will be referred to as a stereoscopic information acquisition device according to another embodiment of the present invention, and will be described with reference to FIGS. 6 to 8 below.

[0060] Meanwhile, the optical system (200) may further include at least one component having a mechanism capable of changing the position of the plate on which the subject is placed. For example, the optical system (200) may include a rotation unit (211) including at least one motor and capable of rotating the plate by a specified angle using the driving force of the motor. In this case, the rotation unit (211) may be configured to include at least one motor providing the driving force and at least one gear capable of rotating the plate according to the rotational force of the motor.

[0061] In addition, the optical system (200) may further include a lift unit (212) formed to lift the plate to a specified height or to return the plate lifted to the specified height to its original position. To this end, the lift unit (212) may be equipped with at least one actuator, and by lifting or lowering the support unit (207) through the actuator, the plate on which the subject is placed can be lifted from a horizontal plane to a specified height or, conversely, the plate positioned at a specified height can be lowered to a preset height. The plate on which the subject is placed can be rotated or its height can be changed through the rotation unit (211) and the lift unit (212). In addition, depending on the rotation of the plate, a virtual image corresponding to a different side of the subject may be formed on each reflective mirror, or depending on the change in the height of the plate, the position of the virtual image corresponding to each side of the subject formed on the reflective mirror may change.

[0062] In addition, the optical system (200) may further include a picker (213) that can pick up the subject and change its height or position. The picker (213) may include at least one manipulator and may be formed to be able to pick up the subject by vacuum suction or the like and move its position or height.

[0063] In this way, the optical system (200) may further include at least one component (rotating component (211), lifting component (212), picker (213)) that can rotate or change the height of an object placed on the plate by rotating or lifting the plate, or directly hold the object to change its position. Hereinafter, at least one component for rotating the object or changing its position will be referred to as a driving component (210). This driving component (210) may be connected to the control component (110) by wire or wirelessly, and may be driven according to the control of the control component (110).

[0064] Meanwhile, as shown in FIG. 2, the imaging unit (130) may be arranged so that the line of sight (209) is inclined at a preset angle (e.g., 30 degrees) from the direction in which the structured light (207) of the light irradiation unit (120) is incident (the incident angle of the structured light, e.g., the vertical direction with respect to the slit (203). Accordingly, an image acquired from the imaging unit (130) may be an image of a subject inclined at the preset angle in the direction in which the imaging unit (130) is arranged.

[0065] To compensate for this tilt, the plate (208) may be arranged to be tilted by a predetermined angle. That is, as shown in (c) of FIG. 3, the plate (208) may be arranged so that the subject-mounting surface of the plate (208) forms a perpendicular to the line of sight (704) of the imaging unit (130) while the plate (208) is tilted by a predetermined angle. For example, if the angle (206) between the line of sight (209) of the imaging unit (130) and the light incident angle of the structured light (204) is 30 degrees, the plate (208) may be arranged to be tilted by 30 degrees from the horizontal plane in the direction in which the imaging unit (130) is arranged. By tilting the plate (208) in this way, an image of the subject with the tilt compensated for according to the angle (206) can be acquired by the imaging unit (130).

[0066] Meanwhile, as described above, the stereoscopic information acquisition device (10) according to the embodiment of the present invention includes first and second reflective mirrors (201, 202) arranged to form a V-shaped curve, a slit (203) formed between the first and second reflective mirrors (201, 202), a light irradiation unit (120) arranged to vertically incident structured light into the center of the slit (203), and an imaging unit (130) arranged to be inclined by a preset angle from the light incidence angle at which the structured light is incident in a direction parallel to the slit (203). In addition, the subject may be placed on a plate (208) formed to overlap only a portion of one of the reflective mirrors (e.g., the second reflective mirror) from the center of the slit (203).

[0067] By arranging in this manner, virtual images corresponding to the left and right sides of the subject can be formed on the first and second reflective mirrors (201, 202). In addition, since the plate (208) and the support member (207) are formed of a transparent material as described above, a virtual image corresponding to the bottom surface of the subject can be formed on one of the reflective mirrors by transmitting through the transparent plate (208) and the support member (207). In addition, since the imaging unit (130) acquires an image of the plate (208) on which the subject is mounted, it can acquire a real image corresponding to the top surface of the subject mounted on the plate (208), i.e., a flat image.

[0068] That is, the stereoscopic information acquisition device (10) according to an embodiment of the present invention can acquire virtual images corresponding to the left and right sides of the subject and a virtual image corresponding to the bottom surface of the subject from the first and second reflective mirrors (201, 202), and can acquire a real image corresponding to the plane of the subject by directly photographing the top surface of the subject.

[0069] Meanwhile, in the above FIGS. 2 and 3, the light irradiation unit (130) is arranged in a vertical direction from the center (205) of the slit (203) so that the structured light (204) is irradiated to the center of the optical system (200), and the imaging unit (130) is arranged so as to have a line of sight (209) inclined by a preset angle (206) based on the center (205) of the slit (203). However, it is to be understood that the present invention is not limited thereto. That is, the positions of the light irradiation unit (120) and the imaging unit (130) may be exchanged. In this case, the imaging unit (130) may be positioned in a direction perpendicular to the center (205) of the slit (203) so that the line of sight (209) matches the center of the optical system (200), and the light irradiation unit (120) may be positioned so that structured light is irradiated with the center (205) of the slit (203) as the center in a direction inclined by a preset angle (206) based on the center (205) of the slit (203).

[0070] Meanwhile, as described above, in the present invention, since the subject is placed on a plate that is arranged closer to one of the reflection mirrors rather than the center of the slit (203), the distances from the left and right sides of the subject to the first and second reflection mirrors (201, 202) may be different from each other. In addition, since the imaging unit (130) is arranged to be inclined, the distance to the lens of the imaging unit (130) may be different for each area of ​​the first and second reflection mirrors (201, 202). Due to this difference in distance, in the present invention, virtual images corresponding to the left and right sides of the subject, a virtual image corresponding to the bottom of the subject, and a real image corresponding to the plane of the subject may be formed at different positions. Fig. 4 is an exemplary diagram for explaining virtual images and real images formed at different positions of the optical system (200) in this way.

[0071] FIG. 4 is a conceptual diagram illustrating an image acquired from an imaging unit in a stereoscopic information acquisition device according to an embodiment of the present invention. Here, (a) of FIG. 4 is a cross-sectional view of an optical system (200) in which a subject (400) is mounted on a plate (208), and (b) of FIG. 4 illustrates a portion of an image of the optical system (200) acquired from the imaging unit (130).

[0072] Referring to (a) of FIG. 4, first, the plate (208) formed in the optical system (200) of the stereoscopic information acquisition device (10) according to an embodiment of the present invention may be formed to overlap a portion of the second reflection mirror (202) from the center of the slit (203). Accordingly, the subject (400) placed on the plate (208) may be positioned closer to the second reflection mirror (202). In other words, the distance from the subject (400) to the first reflection mirror (201) and the distance to the second reflection mirror may be different from each other.

[0073] In this way, when the subject (400) is mounted on the plate (208) and the imaging unit (130) captures an image of an area including the first and second reflective mirrors (201, 202), the image may include an image (hereinafter referred to as an image (420)) corresponding to the upper surface (401) of the subject (400). In this case, the image (420) of the upper surface of the subject (400) is an image that is not reflected by the reflective mirror, and may be a real image. In addition, since it is an image that is not reflected by the reflective mirror, it may be an image that appears closest to the imaging unit (130), that is, the camera lens. In this case, the image (420) corresponding to the upper surface (401) of the subject may be formed at the position where the subject (400) is currently mounted, that is, next to the center (205) of the slit (203), as shown in (b) of FIG. 4.

[0074] Meanwhile, as shown in (a) of FIG. 4, when the subject (400) is positioned so as to overlap a portion of the second reflective mirror (202) disposed on the right side of the subject (400), the right side of the subject (400) may be reflected on the second reflective mirror (202). In this case, as shown in (b) of FIG. 4, a virtual image (422) (hereinafter, referred to as a right-side image) corresponding to the right side of the subject (400) may be formed by being spaced to the right by the distance (second separation distance (412)) between the right side of the subject (400) and the second reflective mirror (202).

[0075] In addition, the right-side image (422) may be an image in which the right-side of the subject (400) is reflected on a second reflective mirror (202) spaced apart by the second separation distance (412). Accordingly, the virtual right-side image (422) may be an image that appears to be located at a distance from the reflective surface (the second reflective mirror (202)) to the right-side of the subject (400), that is, at a distance further than the second separation distance (412).

[0076] Meanwhile, when the line of sight (209) of the imaging unit (130) is positioned vertically from the center (205) of the slit (203), the right-side image (422) can be formed in a position parallel to the upper-side image (420) of the real subject (400). However, as described above, since the line of sight (209) of the imaging unit (130) is tilted by a preset angle (e.g., 30 degrees) from the vertical direction (204) from the center (205) of the slit (203), an object that is further from the imaging unit (130) can be displayed at a position further from the imaging unit (130). Accordingly, as shown in (b) of FIG. 4, the right-side image (422) may be formed at a position further from the imaging unit (130) by a second virtual distance (e.g., a sine distance according to the tilted angle of the imaging unit (130)) (452) based on the inclination of the imaging unit (130) and the second separation distance (422), that is, at a position further away from the upper image (420) in the direction opposite to the position of the imaging unit (130). Accordingly, the right-side image (422) may be formed at a position spaced apart from the upper image (420) by a second separation distance (412) to the right, and spaced apart from the upper image (420) by the second virtual distance (452) in the direction opposite to the imaging unit (130).

[0077] Similarly, as shown in (a) of FIG. 4, the left side of the subject (400) may be reflected on the first reflective mirror (201). In this case, as shown in (b) of FIG. 4, a virtual image (423) (hereinafter referred to as a left-side image) corresponding to the left side of the subject (400) may be formed by being spaced to the left by the distance (first separation distance (411)) between the left side of the subject (400) and the first reflective mirror (201). Here, since the subject (400) is positioned to overlap a portion of the second reflective mirror (202) arranged on the right side of the subject (400), the first separation distance (411) may be a longer distance than the second separation distance (412).

[0078] The left side image (421) above may be an image in which the left side of the subject (400) is reflected on the first reflective mirror (201) spaced apart by the first separation distance (411). Accordingly, the left side image (421), which is a virtual image, may be an image that appears to be located at a distance from the reflective surface (the first reflective mirror (201)) to the left side of the subject (400), that is, at a distance further than the first separation distance (411).

[0079] Meanwhile, as described above, since the line of sight (209) of the imaging unit (130) is tilted by a preset angle (e.g., 30 degrees) from the vertical direction (204) from the center (205) of the slit (203), an object that is far from the imaging unit (130) can be displayed at a position far from the imaging unit (130). Accordingly, as shown in (b) of FIG. 4, the left-side image (421) can be formed at a position farther from the imaging unit (130) by a first virtual distance (e.g., a sine distance according to the tilted angle of the imaging unit (130)) (451) corresponding to the tilt of the imaging unit (130) and the first separation distance (421), that is, at a position farther from the upper image (420) in the direction opposite to the position of the imaging unit (130). Accordingly, the left-side image (421) may be formed at a position spaced apart from the top-side image (420) to the left by a first distance, and spaced apart from the top-side image (420) by a first virtual distance (451) in the opposite direction of the imaging unit (130).

[0080] Meanwhile, as described above, the plate (208) may be formed of a transparent material. Accordingly, as shown in (a) of FIG. 4, the bottom surface of the subject (400) may be reflected on a portion of the second reflective mirror (202) overlapped by the plate (208). In addition, the bottom image of the subject (400) reflected on the second reflective mirror (202) may be reflected on the first reflective mirror arranged to face each other, and the bottom image of the subject (400) reflected on the first reflective mirror may be acquired by the imaging unit (130).

[0081] In this case, as shown in (a) of Fig. 4, a virtual image (hereinafter referred to as a bottom image) (413) corresponding to the bottom of the subject (400) can be formed centered on a position spaced laterally from the center of the subject (400) by the physical distance between the second reflection mirror (202) and the first reflection mirror (201) where the bottom image of the subject (400) is reflected, i.e., the third separation distance (413).

[0082] In this case, since the subject (400) is positioned so as to overlap a part of the second reflection mirror (202) arranged on the right side of the subject (400), the bottom image (413) can be formed with a center at a position shifted to the left by the third distance (413) from the center of the top image (420) of the subject (400). However, if the subject (400) is positioned so as to overlap a part of the first reflection mirror (201) arranged on the left side of the subject (400), the bottom image (413) can be formed with a center at a position shifted to the right by the third distance (413) from the center of the top image (420) of the subject (400).

[0083] In addition, the bottom image (423) may be a virtual image of the bottom of the subject (400) reflected on the second reflective mirror (202) and the first reflective mirror (201). Accordingly, the bottom image (423) may be an image that appears to be located at a distance from the reflective surface (the first reflective mirror (421)) to the bottom of the subject (400) via the second reflective mirror (202), that is, a distance that is longer by the third distance (413) from the reflective surface of the first reflective mirror (421) to the reflective surface of the second reflective mirror (202) and a fourth distance (414) from the reflective surface of the second reflective mirror (202) to the bottom of the subject (400).

[0084] In this case, as described above, the line of sight (209) of the imaging unit (130) is tilted by a preset angle (e.g., 30 degrees) from the vertical direction (204) from the center (205) of the slit (203), so an object far from the imaging unit (130) can be displayed at a location far from the imaging unit (130). Accordingly, as shown in (b) of FIG. 4, the bottom image (423) may be formed at a position further from the top image (420) by a third virtual distance (e.g., a sine distance according to the tilted angle of the image capturing unit (130)) (453) corresponding to the sum of the third separation distance (423) and the fourth separation distance (424) of the inclination of the image capturing unit (130) and a position further from the image capturing unit (130), that is, at a position further from the top image (420) in the direction opposite to the position of the image capturing unit (130). Accordingly, the bottom image (423) may be formed at a position spaced apart from the top image (420) by the third virtual distance to the right and spaced apart from the top image (420) by the third virtual distance (453) in the direction opposite to the image capturing unit (130).

[0085] Accordingly, as shown in (b) of FIG. 4, the image of the optical system (200) acquired by the imaging unit (130) may include images of different sides of the subject (400) at different locations, respectively. That is, the stereoscopic information acquisition device (10) according to an embodiment of the present invention can acquire three images corresponding to the left and right sides and the bottom of the subject (400) and one image corresponding to the top surface (plane) of the subject (400) with one capture. Therefore, the control unit (110) can acquire stereoscopic information about the overall stereoscopic shape of the subject by measuring depth information for each region according to the shape of each side of the subject (400) from each of the acquired images.

[0086] Meanwhile, as described in FIG. 4, the stereoscopic information acquisition device (10) according to an embodiment of the present invention can simultaneously acquire images of each of the four sides (up, down, left, right) of a subject with a single shot. Therefore, it has the effect of easily and quickly acquiring stereoscopic information on each side of the subject with only one optical module consisting of one light irradiation unit and one camera.

[0087] However, since the present invention utilizes virtual images having different virtual image distances formed on the first and second reflective mirrors (201, 202) that form a V-shaped curve centered on the slit (203), there is a problem in that the size of the image may slightly vary depending on the different virtual image distances.

[0088] For example, when considering the top image (420) as a reference, the right image (422) that appears to be located further away by the second virtual distance (452) may be smaller in size than the top image (420) depending on the second virtual distance (452). In addition, the left image (421) that appears to be located further away by the first virtual distance (451) may be smaller in size than the right image (422) depending on the first virtual distance (451) being longer than the second virtual distance (452). In addition, the bottom image (423) that appears to be located further away by the third virtual distance (453) may be smaller in size than the left image (422) depending on the third virtual distance (453) being longer than the first virtual distance (451). In this case, even if the size difference is at a minute level, there is a problem that this size difference may act as an error in calculating the depth information of the subject (400).

[0089] Accordingly, FIG. 5 is an exemplary diagram showing an example of compensating for size errors of each side of a subject according to different virtual distances in a stereoscopic information acquisition device (10) according to an embodiment of the present invention described above.

[0090] First, (a) of FIG. 5 shows an example of images of four sides of a subject (400) simultaneously acquired by the imaging unit (130) of the stereoscopic information acquisition device (10) according to an embodiment of the present invention, as described in (b) of FIG. 4.

[0091] Here, the control unit (110) can form a virtual reference line (500) in a direction that vertically intersects the slit (203) from the center of the reference image (420), as shown in (a) of FIG. 5. Then, the distances to the image centers of each virtual image perpendicular to the virtual reference line (500) can be calculated. In this case, the calculated distances can be virtual distances to each virtual image, i.e., distances corresponding to the first to third virtual distances (451, 452, 453).

[0092] For example, the distance between the virtual reference line (500) and the center of the right-side image (422) may be a second distance (502) corresponding to the second virtual distance (452). In addition, the distance between the virtual reference line (500) and the center of the left-side image (421) may be a first distance (501) corresponding to the first virtual distance (451). And the distance between the virtual reference line (500) and the center of the bottom image (423) may be a third distance (503) corresponding to the third virtual distance (453).

[0093] Meanwhile, the surface image (420) above is a real image that is not reflected by a reflective mirror. In addition, since the surface image (420) is an image viewed from above the subject (400), i.e., a flat image, the vertical distance between the plate (208) and the imaging unit (130) may be a shooting distance (hereinafter, a reference shooting distance) corresponding to the surface image (420).

[0094] Here, since the imaging unit (130) is arranged to be inclined at a preset angle (e.g., 30 degrees) from the vertical direction (structured light incident angle (204)) from the center (205) of the slit (203), the control unit (110) can calculate the shooting angle at which the imaging unit (130) photographs the subject (400) from the horizontal plane. For example, if the imaging unit (130) is arranged to be inclined at 30 degrees from the structured light incident angle (204), the imaging unit (130) can photograph the subject at an angle inclined at 60 degrees from the horizontal plane.

[0095] In addition, the above virtual images, i.e., the right-side image (422), the left-side image (421), and the bottom image (423), may be images taken of the subject from the same angle. Since the shooting angles are the same, the further away from the virtual reference line (500), the greater the shooting distance between the imaging unit (130) and the subject (400).

[0096] Accordingly, the control unit (110) can reverse-calculate the shooting distance between the imaging unit (130) and the subject corresponding to each virtual image based on the distance from the virtual reference line (500) to the center of each virtual image and the calculated subject shooting angle of the imaging unit (130).

[0097] For example, in the case of the left-side image (421) as described above, if it is spaced apart from the virtual reference line (500) by the first distance (501), the left-side image (421) may be an image taken of the left side of the subject at a distance longer than the reference shooting distance in proportion to the first distance (501). Similarly, the right-side image (422) may be an image taken of the left side of the subject at a distance longer than the reference shooting distance in proportion to the second distance (502), and the bottom image (423) may be an image taken of the bottom of the subject at a distance longer than the reference shooting distance in proportion to the third distance (503). That is, the shooting distance corresponding to each virtual image may be proportional to the distance from the virtual reference line (500) to the center of each virtual image.

[0098] Accordingly, the control unit (110) can calculate the ratio of the reference shooting distance and the shooting distance corresponding to each virtual image based on the distance from the virtual reference line (500) to the center of each virtual image. Then, based on the calculated ratio, the size of each virtual image can be enlarged to match the size of the reference real image. Accordingly, as shown in (b) of FIG. 5, the size error between each virtual image according to different virtual distances can be compensated for.

[0099] The above description has described an example in which each virtual image is enlarged according to the distance from the virtual reference line by correcting the size of each virtual image based on the real image. However, it should be understood that the present invention is not limited thereto. That is, any right-side image, left-side image, or bottom image may be used as a reference. In this case, at least a portion of the images may be enlarged or reduced based on the magnification calculated according to the distance from the virtual reference line to the center of each image.

[0100] In addition, the above description assumes that the control unit (110) calculates the image magnification, but since the reference shooting distance is fixed, it goes without saying that the enlargement or reduction magnification may be preset for each distance from the virtual reference line to the center of each image. These magnifications for each distance may be stored in the memory (140) in the form of a table and loaded by the control unit (110).

[0101] Meanwhile, the above description has described an example of a stereoscopic information acquisition device according to an embodiment of the present invention that simultaneously acquires images of four sides of a subject with a single shot. However, it should be noted that, in contrast, the stereoscopic information acquisition device according to an embodiment of the present invention can acquire images of not only the left and right sides of the subject, but also the front and back sides by performing one more shot.

[0102] For example, the optical system (200) of the stereoscopic information acquisition device (10) according to an embodiment of the present invention may be equipped with a rotation unit (211). The rotation unit (211) may rotate the plate on which the subject is placed 90 degrees around the support unit (207) under the control of the control unit (110). In this case, the control unit (110) may first photograph the plate on which the subject is placed before the rotation to acquire images of the left side, right side, top side, and bottom side of the subject, and may further acquire images of the front and back of the subject by rotating the plate 90 degrees around the support unit (207). In this case, when the plate is rotated 90 degrees around the support unit, the plate may be arranged at a position where its center is parallel to the slit (203). Therefore, the front and back images of the subject acquired in this state may be measured at the same virtual distance. In this case, according to the size error compensation method described in FIG. 5, the control unit (110) can compensate for the size error of the front and back images based on the distance between the center of the front and back images and the virtual reference line extended from the center of the upper surface image of the subject.

[0103] Meanwhile, in the above description, the stereoscopic information acquisition device according to the embodiment of the present invention can compensate for the size error through the image enlargement or reduction of the control unit (110), but, of course, it is also possible to acquire an image in which the size error does not occur by directly controlling the distance between the subject and the imaging unit (130). The following Figures 6 to 8 illustrate examples of stereoscopic information acquisition devices according to embodiments of the present invention in this case, that is, other embodiments of the present invention.

[0104] Hereinafter, a stereoscopic information acquisition device (10) according to another embodiment of the present invention will be described assuming that it includes a rotation unit (211), a lift unit (212), and a picker (213) as a driving unit (210). In addition, in order to prevent errors due to virtual distance, it will be described assuming that the subject is positioned at the center of the slit (203).

[0105] To this end, the plate (208) of the stereoscopic information acquisition device (10) according to another embodiment of the present invention may be formed to overlap a portion of the first and second reflection mirrors (201, 202) in the same manner as the first and second reflection mirrors (201, 202). In this case, unlike the semicircular plate illustrated in FIG. 3, the plate (208) of the stereoscopic information acquisition device (10) according to another embodiment of the present invention may have a circular shape centered on a support portion (207) protruding from the center (205) of the slit (203).

[0106] FIG. 6 is a flowchart illustrating an operation process for acquiring a six-sided image of a subject (700) in a stereoscopic information acquisition device (10) according to another embodiment of the present invention. FIG. 7 is an example of each operation step for acquiring a six-sided image of a subject (700) according to the operation process of FIG. 6, and FIG. 8 is an example diagram for explaining different heights of a plate (208) on which the subject (700) is mounted in each operation step for acquiring a six-sided image of the subject (700) according to the operation process of FIG. 6.

[0107] Referring to FIG. 6, the control unit (110) of the stereoscopic information acquisition device (10) according to another embodiment of the present invention can control the light irradiation unit (120) so that structured light is irradiated to the subject and the first and second reflective mirrors (201, 202) (S600). Then, structured light having a preset pattern from the light irradiation unit (120) in a direction perpendicular to the center (205) of the slit (203) formed between the first and second reflective mirrors (201, 202) can be irradiated to the entire optical system (200) including the subject (700) mounted on the plate (208) and the first and second reflective mirrors (201, 202). Here, the plate (208) can be coupled to a support (207) protruding from the center (205) of the slit (203) formed between the first and second reflective mirrors (201, 202), as shown in (a) of Fig. 7. In addition, a portion of the left and right sides of the plate (208) can overlap each of the first and second reflective mirrors (201, 202).

[0108] For this purpose, the plate (208) may be formed in a symmetrical shape, and preferably, may be formed in a circular shape as shown in (a) of FIG. 7. In addition, the subject (700) may be positioned so that its center is located at the center of the plate (208), i.e., the center (205) of the slit (203), as shown in (a) of FIG. 7. Accordingly, the distances between the left and right sides of the subject (700) and the reflective surfaces of the first and second reflective mirrors (201, 202) may be the same.

[0109] In addition, both the plate (208) and the support (207) may be formed of a transparent material that allows light to pass through. In addition, the support (207) may be formed to be connected to the rotation part (211) of the driving part (210) and to be able to rotate by a preset angle (for example, 90 degrees) according to the control of the control part (110). In addition, the support (207) may be formed to be connected to the lift part (212) of the driving part (210) and to be able to change its height according to an actuator provided in the lift part (212). In addition, the stereoscopic information acquisition device (10) according to another embodiment of the present invention may further include a picker (213) that can pick up a subject (700) placed on the plate (208).

[0110] And the control unit (110) can control the imaging unit (130) to acquire an image of the optical system (200) (S602). The image acquired in step S602 may be an image for acquiring a top surface, i.e., a planar image, of the subject (700) mounted on the plate (208). That is, the control unit (110) can acquire an image of the top surface of the subject (700) through an image acquired as shown in (a) of FIG. 7 in a state where the height of the plate (208) is not controlled, that is, in a state where the plate (208) is positioned at a reference state or a first height.

[0111] Here, the image acquired may be an image of the entire optical system (200). Then, the control unit (110) can acquire only one image corresponding to the upper surface of the subject (700) from the image of the entire optical system (200) acquired. For example, since the subject (700) is located at the center of the plate (208), the image of the upper surface of the subject (700) may be located at the center of the image of the entire optical system (200) acquired. In addition, the left and right images of the subject (700) may be located parallel to the left and right of the image of the upper surface of the subject (700). In this case, the image of the bottom surface of the subject (700) may be hidden by the subject (700) and thus not visible. Then, the control unit (110) can capture an image located at the center of the image of the entire optical system (200) from the image acquired to acquire an image of the upper surface of the subject (700).

[0112] When an image is acquired in the above step S602, the control unit (110) can control the lift unit (212) to change the height of the plate (208) to a second height (S604). Here, the second height of the plate (208) may be a height corresponding to the distance between the left and right sides of the subject (700) and the reflective surfaces of the first and second reflective mirrors (201, 202). That is, the second height may be for compensating for the distance between the imaging unit (130) and the subject (700) in order to compensate for the virtual image distance in which the left and right sides of the subject (700) are reflected on the reflective surfaces of the first and second reflective mirrors (201, 202). In this case, as shown in (a) of FIG. 8, which illustrates a plate (208) positioned at the first height, and (b) of FIG. 8, which illustrates a plate (208) positioned at the second height (820), the second height (820) may be a height that brings the subject (700) closer to the imaging unit (130) than the first height (810).

[0113] Here, according to the above, the imaging unit (130) can be arranged to be inclined at a preset angle (e.g., 30 degrees) from the direction perpendicular to the center (205) of the slit (203). Accordingly, in (c) of FIG. 3, it was mentioned that the plate (208) can be arranged to be perpendicular to the line of sight (209) of the imaging unit (130). Similarly, the lift unit (212) may move the plate (208) in a direction parallel to the line of sight (209) of the imaging unit (130), rather than in a vertical direction. That is, if the imaging unit (130) is inclined at 30 degrees with respect to the vertical direction, the lift unit (212) can also change the height of the plate (208) in a direction inclined at 30 degrees with respect to the vertical direction along the direction in which the imaging unit (130) is arranged. In the following description, for the sake of convenience of explanation, the height of the plate (208) is shown as being changed in the vertical direction. However, it is to be understood that such a change in height may be caused by the plate (208) being tilted along the direction in which the imaging unit (130) is positioned, as described above.

[0114] In the above step S604, when the height of the plate (208) is changed to the second height (820), the control unit (110) can control the imaging unit (130) again to obtain an image of the optical system (200) (S606). The image obtained in the step S606 may be for obtaining images of the left and right sides of the subject (700). That is, the control unit (110) can capture images arranged on the left and right sides except for the central image (the image corresponding to the upper surface of the subject (700)) from the image obtained in the step S606, thereby obtaining left and right images of the subject (700) arranged at the second height (820). In this case, as the height of the plate (208) is changed to the second height (820), images of the left and right sides of the subject (700) captured at a shooting distance corresponding to the upper surface image obtained in the step S602 can be obtained.

[0115] In the above step S606, when the left and right sides of the subject (700) mounted on the plate (208) at the second height (820) are images acquired, the control unit (110) can rotate the plate (208) located at the second height (820) about the support member (207) by a preset angle (e.g., 90 degrees) (S608). Here, the support member (207) is connected to the rotation member (211), and the plate (208) can be rotated by a preset angle (e.g., 90 degrees) by the rotational force provided by the rotation member (211).

[0116] Then, according to the rotation of the plate (208), the subject (700) can be rotated 90 degrees about the support (207) as shown in (c) of FIG. 7. Therefore, as shown in (a) of FIG. 7, instead of the left and right sides of the subject (700), the front and back of the subject (700) can be arranged so that the first reflection mirror (201) and the second reflection mirror (202) face each other.

[0117] Then, the control unit (110) can control the imaging unit (130) again to acquire an image of the optical system (200) (S610). The images acquired here may be for acquiring images of the front and back of the subject (700). That is, the control unit (110) can capture images arranged on the left and right sides, excluding the central image (the image corresponding to the upper surface of the subject (700)) from the images acquired in step S610, to acquire front and back images of the subject (700) arranged at the second height (820). Here, since the height of the plate (208) is the second height (820) as shown in (c) of FIG. 8, images of the front and back of the subject (700) captured at a shooting distance corresponding to the upper surface image acquired in step S602 can be acquired.

[0118] When the front and back images of the subject (700) are acquired in the above step S610, the control unit (110) can control the rotation unit (211) to restore the rotational state of the plate (208) (S612). Accordingly, the subject (700) placed on the plate (208) can also be restored to a state in which the left and right sides are arranged to face the first and second reflective mirrors (201, 202).

[0119] In this way, in a state where the rotational state of the plate (208) is restored, the control unit (110) can change the height of the plate (208) to a third height (830) as shown in (c) of FIG. 8 (S614). Here, the third height (830) is intended to compensate for the distance between the imaging unit (130) and the subject (700) in order to compensate for the virtual image distance in which the bottom surface of the subject (700) is reflected on the reflective surfaces of the first and second reflective mirrors (201, 202), and the third height (830) may be a height that brings the subject (700) closer to the imaging unit (130) than the second height (820).

[0120] And, as shown in (d) of Fig. 7, the control unit (110) can control the picker (213) to grip the subject (700) and move the gripped subject (700) to a position at a preset height from the reflective surface of one of the reflective mirrors (S616). In this case, if the picker (213) moves the gripped subject (700) adjacent to the reflective surface of the first reflective mirror (201) as shown in (d) of Fig. 8, the bottom surface of the subject (700) can be reflected at a point on the reflective surface of the first reflective mirror (201) (a point on the lower side of the first reflective mirror (201). And, the image of the bottom surface of the subject (700) reflected from a lower point of the first reflective mirror (201) can be reflected at a point (a point on the lower side of the second reflective mirror (202)) of the reflective surface of the facing second reflective mirror (202), thereby forming a virtual image corresponding to the bottom surface of the subject (700).

[0121] Here, the preset height for moving the subject (700) may be a height corresponding to the third height (830). That is, the control unit (110) may move the captured subject (700) from the reflective surface of any one of the reflective mirrors to a preset height based on the third height (830). In this case, the third height (830) may be a distance according to the sum of the distances between a point on the reflective surface of the first reflective mirror (201) where the image of the bottom surface of the subject (700) is reflected and a point on the corresponding reflective surface of the second reflective mirror (202), and the distance between the bottom surface of the captured subject (700) and a point on the reflective surface of the first reflective mirror (201). That is, the height for compensating for the virtual image distance according to the distance between the reflective surfaces and the distance between the subject (700) and the reflective surface may be the third height (830). The third height (830) calculated here and the second height (820) can be stored in the memory (140).

[0122] Then, the control unit (110) can control the imaging unit (130) again to acquire an image of the optical system (200) (S618). The image acquired here may be for acquiring a bottom image of the subject (700). In the case of the step S618, as shown in (d) of FIG. 7 and (d) of FIG. 8, the image is acquired while the subject (700) is gripped and moved toward the reflective surface of one of the reflective mirrors, so that the bottom image of the subject (700) can be formed at a position facing the image of the upper surface of the subject (700), i.e., the actual image, with the center (205) of the slit (203) as the boundary.

[0123] Then, the control unit (110) can capture an image at a position symmetrical to the upper surface image of the subject (700) from the image acquired in step S618, with the center (205) of the slit (203) as the boundary, to acquire a bottom image of the subject (700). Here, since the height of the plate (208) is the third height (830) as shown in (d) of FIG. 8, an image of the bottom of the subject (700) captured at a shooting distance corresponding to the upper surface image acquired in step S602 can be acquired.

[0124] Then, the control unit (110) can obtain a six-sided image including the left and right side images of the subject (700), the front and rear images of the subject (700), and the bottom image of the subject (700) taken at the same distance as the shooting distance at which the top image of the subject (700) was taken through the process illustrated in FIG. 6. In addition, since the images are images in which the virtual distance is compensated for through the height adjustment of the plate, separate error compensation may not be necessary. Accordingly, the control unit (110) can arrange the obtained images of each side of the subject (top, left, right, front, back, and bottom) in a row and output them through a preset output unit (not illustrated).

[0125] Meanwhile, according to the above description, the stereoscopic information acquisition device (10) according to an embodiment of the present invention has been mentioned in that the light irradiation unit (120) that irradiates preset structured light may include at least one projector. In this case, the light irradiation unit (120) may include one projector configured to irradiate structured light having different patterns to different areas, or may include a plurality of projectors that irradiate structured light having different patterns so that the structured light having different patterns is irradiated to different areas.

[0126] FIG. 9 is an exemplary diagram illustrating an example in which a light irradiation unit (120) irradiates structured light of different patterns to different areas of an optical system (200) in a three-dimensional information acquisition device (10) according to an embodiment of the present invention.

[0127] First, referring to (a) of FIG. 9, the light irradiation unit (120) according to an embodiment of the present invention can be configured to irradiate structured light having different patterns to a first region (910) corresponding to a predetermined region formed parallel to the slit (203) at a predetermined distance from the slit (203) and a second region (920) including the remaining region excluding the first region (910). Here, the structured light having different patterns may be structured light having different band intervals or different band directions. Hereinafter, the structured light irradiated to the first region (910) will be referred to as first structured light, and the structured light irradiated to the second region (920) will be referred to as second structured light.

[0128] In this case, as described above, since the plate (208) can be formed to extend to the support (207) protruding from the center (205) of the slit (203), the real image (hereinafter referred to as the top image) (901) corresponding to the upper surface of the subject to be mounted on the plate (208) can be formed adjacent to the center (205) of the slit (203). In addition, the virtual image (hereinafter referred to as the bottom image) (904) corresponding to the lower surface of the subject is formed by passing through the plate (208) and reflecting on the lower side of the reflective surfaces of the first and second reflective mirrors (201, 202), so it can be formed at a position symmetrical to the upper image (901) with the slit (203) as the boundary. Accordingly, the bottom image (904) can also be formed adjacent to the center (205) of the slit (203). That is, the upper surface image (901) and the lower surface image (904) can be formed adjacent to the center (205) of the slit (203).

[0129] In this case, the first structured light can be irradiated to a first region (910) corresponding to a certain distance from the center (205) of the slit (203). Accordingly, the top image (901) and the bottom image (904) can be images formed according to the distortion of the first structured light.

[0130] On the other hand, virtual images (903, 904) corresponding to the left and right sides of the subject are formed by being reflected on the reflective surfaces of the first reflective mirror (201) and the second reflective mirror (202) having the same height as the height of the subject placed on the plate (208), and thus can be formed on the upper sides of the first reflective mirror (201) and the second reflective mirror (202), respectively, as shown in (a) of FIG. 9.

[0131] However, the second structured light can be irradiated to the second area (920) other than the first area (910) corresponding to a certain distance from the center (205) of the slit (203). Accordingly, the left-side image (903) and the right-side image (904) may be images formed according to the distortion of the second structured light.

[0132] Accordingly, as shown in (a) of FIG. 9, when the light irradiation unit (120) irradiates the first structured light and the second structured light to the first region (910) and the second region (920) of the optical system (200), respectively, as shown in (b) of FIG. 9, the image acquired by the imaging unit (130) can be divided into a first structured light region (960) including an image acquired by the first structured light and a second structured light region (970) including an image acquired by the second structured light. In this case, the first structured light region (960) may include an image (951) of the upper surface of the subject and an image (954) of the lower surface of the subject, and the second structured light region (970) may include an image (953) of the left surface of the subject and an image (952) of the right surface of the subject. In this case, the control unit (110) may identify whether the image is an image of the left or right side of the subject or an image of the top or bottom based on the area containing the image and / or the light pattern forming the image.

[0133] Meanwhile, FIG. 10 is an exemplary diagram showing other examples of the first and second reflective mirrors (201, 202) forming the optical system (200) in a stereoscopic information acquisition device (10) according to an embodiment of the present invention.

[0134] Referring to (a) and (b) of FIG. 10, unlike the plate (208) formed by extending from the support (207) protruding from the center (205) of the slit (203) in the above-described description, an example of a plate (1000) formed integrally with at least one of the first and second reflecting mirrors (201, 202) between the first and second reflecting mirrors (201, 202) arranged to form a V-shaped curve is shown.

[0135] First, referring to (a) of FIG. 10, the plate (1000) can be formed integrally with either one of the first and second reflection mirrors (201, 202) (the second reflection mirror (202) in the case of (a) of FIG. 10). In this case, as shown in (a) of FIG. 10, among the valley portions of the V-shaped curve corresponding to a certain height from the center of the V-shaped curve, an area corresponding to either one of the reflection mirrors (the second reflection mirror (202) in the case of (a) of FIG. 10)) is filled with a transparent material, thereby forming a horizontal plane, i.e., the plate (1000), on which the subject (700) can be placed.

[0136] Meanwhile, in the case of (a) of the above-described Fig. 10, this may be an example of a case in which the plate is formed to overlap only a portion of one of the reflective mirrors in the present invention. In this case, as in the other embodiment of the present invention described above, if the plate is formed to overlap both the first and second reflective mirrors (201, 202), as shown in (b) of Fig. 10, the entire V-shaped valley corresponding to a certain height from the center of the V-shaped valley is filled with a transparent material, thereby forming the plate (1000) on which the subject (700) can be placed.

[0137] Meanwhile, the above description only describes the subject being placed on a plate on which the subject can be placed. However, it is of course possible that a fixing member (1010) may be further formed to support at least one of the left and right sides so that the subject can be fixed. In this case, the fixing member (1010) may also be formed of a transparent material, like the plate (1000), so that light can be transmitted.

[0138] In this case, the fixing member (1010) may be formed in the form of a wall surface capable of supporting one side of a subject mounted on the plate (1000) from a point of the reflective mirror where the plate (1000) is in contact, as shown in (c) of FIG. 10. In this case, the fixing member (1010) may be positioned between the subject and the reflective mirror, and accordingly, the shape of one side of the subject supported by the fixing member (1010) may be reflected by the reflective mirror through the fixing member (1010) to form a virtual image corresponding to one side of the subject.

[0139] In the case of (c) of the above-described Fig. 10, this may be an example of a case in which the plate is formed to overlap only a portion of one of the reflective mirrors in the present invention. Accordingly, as in the other embodiment of the present invention described above, if the plate is formed to overlap both the first and second reflective mirrors (201, 202), as described above, the plate (1000) on which the subject (700) can be mounted can be formed by filling the entire valley portion of the V-shaped valley corresponding to a certain height from the center of the V-shaped valley with a transparent material.

[0140] In this case, the fixing portion (1010) may be formed as wall surfaces capable of supporting both sides of the subject mounted on the plate (1000) from each point of each reflective mirror in contact with the plate (1000), as shown in (d) of the above-described FIG. 10. In this case, the fixing portions (1010) formed on each reflective mirror may be positioned between the subject and each reflective mirror, and accordingly, the shape of both sides of the subject supported by each fixing portion (1010) may be reflected on each reflective mirror by passing through the fixing portions (1010) formed on the left and right sides of the subject. Accordingly, virtual images corresponding to both sides of the subject may be formed on each reflective mirror.

[0141] Meanwhile, the above description describes a configuration for acquiring images of each side of a subject using the first and second reflective mirrors, but it goes without saying that the present invention is not limited thereto. For example, an optical system may be formed using two or more reflective mirrors, and in this case, it goes without saying that images of different sides of the subject may be acquired through a single image captured by the optical system. In addition, the above-described embodiment of the present invention that compensates for size errors or distance errors due to virtual image distances between each image formed on the two or more reflective mirrors and each side of the subject may also be equally applied.

[0142] In addition, although the above description has described the first and second reflective mirrors as having reflective surfaces inclined at angles symmetrical to each other, it is to be understood that the present invention is not limited thereto. That is, the reflective surfaces of the first and second reflective mirrors may be inclined at any angle different from the normal extending from the center of the slit. In addition, the reflective surfaces of the first and second reflective mirrors may be inclined at any angle other than 45 degrees from the normal.

[0143] In addition, although the above description has described the case where the height of the plate is changed by the lift unit as an example, it is of course possible to change the distance between the imaging unit (130) and the light irradiation unit (120) and the center (205) of the slit (203). In this case, instead of changing the height of the plate (208) to the second height or the third height, the control unit (110) can move the imaging unit (130) closer to the center (205) of the slit (203) to form a 2-1 distance or a 3-1 distance from the center (205) of the slit (203). In addition, the light irradiation unit (120) can be moved closer to the center (205) of the slit (203) to form a 2-2 distance or a 3-2 distance from the center (205) of the slit (203).

[0144] The present invention described above can be implemented as computer-readable code on a medium in which a program is recorded. Computer-readable media include all types of recording devices that store data that can be read by a computer system. Examples of computer-readable media include hard disk drives (HDDs), solid state disks (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, etc., and also include media implemented in the form of carrier waves (e.g., transmission via the Internet). In addition, the computer may include a control unit (180) of a terminal. Therefore, the above detailed description should not be construed as limiting in all respects, but should be considered as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are intended to be included in the scope of the present invention.

Claims

1. A first reflecting mirror having a reflecting surface inclined at a preset angle; A second reflecting mirror having a reflecting surface inclined to form a V-shaped curve with respect to the reflecting surface of the first reflecting mirror; A slit formed between the first reflecting mirror and the second reflecting mirror; A transparent plate formed at a certain height from the above slit and on which the subject is placed; A light irradiation unit formed to irradiate structured light having a preset pattern to a photographing area including a transparent plate on which the subject is placed and the first and second reflective mirrors, with the center of the slit as the center; and, A stereoscopic information acquisition device characterized by including an imaging unit formed to acquire an image of the above-mentioned shooting area.

2. In the first paragraph, the transparent plate, A stereoscopic information acquisition device characterized in that it is connected to a support protruding from the center of the slit and is formed to overlap a part of one of the first and second reflective mirrors adjacent to the center of the slit.

3. In the second paragraph, the transparent plate, A three-dimensional information acquisition device characterized in that a support member made of a transparent material protruding from at least a portion of the slit is formed by being bent toward one of the first and second reflective mirrors.

4. In paragraph 1, The above light irradiation unit, Irradiate the structured light in a direction perpendicular to the center of the slit, The above imaging unit, A stereoscopic information acquisition device characterized in that it acquires an image of the shooting area at an angle inclined at a predetermined angle based on the center of the slit from a direction perpendicular to the center of the slit.

5. In the fourth paragraph, the transparent plate, A stereoscopic information acquisition device characterized in that the lens of the above-mentioned imaging unit is arranged so as to face vertically and to be inclined at a predetermined angle from the horizontal plane.

6. In paragraph 4, A stereoscopic information acquisition device characterized in that the above predetermined angle is an angle between 15 degrees and 45 degrees.

7. In the second paragraph, the image of the shooting area is A stereoscopic information acquisition device characterized by including a top image of a subject mounted on the transparent plate, a left-side image and a right-side image which are virtual images formed by reflecting the left and right shapes of the subject on the first and second reflective mirrors, respectively, and a bottom image which is a virtual image formed by reflecting the bottom shape of the subject transmitted through the transparent plate on the first and second reflective mirrors.

8. In paragraph 7, The above top image, left side image, right side image, and bottom image are, A stereoscopic information acquisition device characterized in that the virtual image is formed at different positions within the image of the photographing area according to different virtual image distances depending on the distance between the subject and the first or second reflective mirror and the distance between the reflective surface of one of the first and second reflective mirrors and the other reflective surface.

9. In paragraph 8, The above left side image and the above right side image, Each is formed at a position spaced apart from the upper surface image by a horizontal distance according to a first or second separation distance between the subject and the first or second reflective mirror, and a vertical distance according to a first or second virtual distance corresponding to the first or second separation distance, The above image is, A stereoscopic information acquisition device characterized in that it is formed at a position spaced apart from the upper image by a vertical distance according to a third virtual image distance corresponding to the sum of the distances of a horizontal distance symmetrical to the upper image based on the slit, a first distance between the bottom surface of the subject and a reflection point of the first reflection mirror where the bottom shape of the subject is reflected, and a second distance between the reflection point of the second reflection mirror where the bottom shape reflected on the first reflection mirror is reflected and the reflection point of the first reflection mirror.

10. In paragraph 9, The above three-dimensional information acquisition device is, A memory for storing images of the above shooting area; and It further includes a control unit that controls the light irradiation unit and the imaging unit, The above control unit, A stereoscopic information acquisition device characterized in that the size of each image in the image of the above-mentioned stored shooting area is compensated according to the virtual distance corresponding to each image.

11. A first reflecting mirror having a reflecting surface inclined at a preset angle; A second reflecting mirror having a reflecting surface inclined to form a V-shaped curve with respect to the reflecting surface of the first reflecting mirror; A slit formed between the first reflecting mirror and the second reflecting mirror; A transparent plate connected to a support protruding from the center of the above slit and on which the subject is placed; A rotating part that rotates the support part so that the transparent plate rotates; A lift unit that changes the height of the support unit so that the height of the transparent plate changes; A light irradiation unit formed to irradiate structured light having a preset pattern to a photographing area including a transparent plate on which the subject is placed and the first and second reflective mirrors, with the center of the slit as the center; An imaging unit formed to acquire an image of the above shooting area; and, A stereoscopic information acquisition device characterized by comprising a control unit that controls the light irradiation unit so that the structured light is irradiated, controls the rotation unit so that the transparent plate is rotated by a preset angle, controls the lift unit so that the height of the plate is changed, and controls the imaging unit so that an image of the shooting area including real and virtual images of each side of the subject placed on the rotated or height-changed transparent plate is acquired.

12. In the 11th paragraph, the control unit, Obtaining an upper surface image of the subject, which is a real object, while the transparent plate is positioned at a first height, The transparent plate is changed in height to a second height according to a virtual distance corresponding to the distance between the subject and the first or second reflective mirror, and the virtual images of the left and right sides or the front and back sides of the subject are acquired. A stereoscopic information acquisition device characterized in that the imaging unit is controlled to acquire a bottom image of the subject, which is a virtual image, in a state where the transparent plate is changed in height to a third height according to a virtual image distance corresponding to the distance between the bottom of the subject and the reflective surface of the first reflective mirror on which the bottom shape of the subject is reflected, and the distance between the reflective surface of the second reflective mirror on which the bottom shape reflected in the first reflective mirror is reflected and the reflective surface of the first reflective mirror.

13. In paragraph 12, The above second height is, The transparent plate is closer to the imaging unit than the first height, The above third height is, A stereoscopic information acquisition device characterized in that the transparent plate has a height closer to the imaging unit than the second height.

14. In paragraph 12, The above subject is placed at the center of the above transparent plate, The above three-dimensional information acquisition device is, The second height calculated according to the virtual distance corresponding to the distance between the center of the plate and the first or second reflecting mirror, and A memory including information of a third height calculated based on a virtual distance corresponding to the sum of a first distance between a preset position corresponding to the third height and a reflective surface of the first reflective mirror from the preset position, and a second distance between a reflection point of the first reflective mirror corresponding to the preset position and a reflection point of the second reflective mirror corresponding to the reflection point of the first reflective mirror, The preset position corresponding to the above third height is, A stereoscopic information acquisition device characterized in that the position is closer to one of the first and second reflection mirrors from the center of the slit.

15. In paragraph 14, The above three-dimensional information acquisition device is, It further includes a picker for gripping a subject placed on the transparent plate and changing the position of the gripped subject, The above control unit, A stereoscopic information acquisition device characterized in that, in a state where the height of the transparent plate is changed to the third height, the picker is controlled to grasp the subject, and the grasped subject is moved to a preset position corresponding to the third height, and the imaging unit is controlled to acquire the bottom image in a state where the subject is moved to the preset position.

16. In paragraph 1 or paragraph 11, The above light irradiation unit, It is formed to irradiate structured light having different patterns to different areas of the above shooting area, The structured light having the above different patterns is A stereoscopic information acquisition device characterized by structured light having different band spacings or band directions.

17. In the 16th paragraph, the light irradiation unit, With the slit as the center, a first structured light is irradiated to a first region including a real image of the subject's upper surface and a virtual image of the subject's lower surface among the photographing regions, A stereoscopic information acquisition device characterized in that a second structured light different from the first structured light is irradiated to a second area including left and right or front and rear side images of the subject, which are virtual images among the above-mentioned photographing areas.

Images