CN210835244U - 3D imaging device and electronic equipment based on synchronous ToF discrete point cloud - Google Patents
3D imaging device and electronic equipment based on synchronous ToF discrete point cloud Download PDFInfo
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- CN210835244U CN210835244U CN201920617525.8U CN201920617525U CN210835244U CN 210835244 U CN210835244 U CN 210835244U CN 201920617525 U CN201920617525 U CN 201920617525U CN 210835244 U CN210835244 U CN 210835244U
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Abstract
The utility model provides a 3D imaging device and electronic equipment based on synchronous ToF discrete point cloud, which comprises a discrete light beam projector and a light detector array imager; the discrete light beam projector is used for projecting a plurality of discrete collimated light beams to a target object; the photodetector array imager is configured to receive the plurality of discrete collimated light beams reflected by the target object and measure a propagation time of the plurality of discrete collimated light beams, thereby enabling depth data of the target object surface to be obtained. The utility model discloses a discrete light beam projector throws the discrete collimated light beam of multi-beam to the target object for the collimated light beam of light detector array imager receipt through the target object reflection realizes the acquirement to the degree of depth data on target object surface, has improved beam power density, realizes balancing between SNR and the point cloud density, thereby can low cost, low-power consumption, the high accuracy carries out 3D formation of image.
Description
Technical Field
The utility model relates to a 3D formation of image field specifically relates to a 3D image device and electronic equipment based on synchronous ToF discrete point cloud.
Background
The tof (time of flight) technique is a 3D imaging technique that emits measurement light from a projector and reflects the measurement light back to a receiver through a target object, thereby obtaining a spatial distance from the object to a sensor from a propagation time of the measurement light in the propagation path. Common ToF techniques include single point scanning projection methods and area light projection methods.
The ToF method of single-point scanning projection uses a single-point projector to project a single beam of collimated light whose projection direction is controlled by a scanning device so that it can be projected onto different target locations. After the collimated light of the single light beam is reflected by the target object, part of the light is received by the single-point light detector, and therefore the depth measurement data of the current projection direction is obtained. The method can concentrate all the optical power on one target point, thereby realizing high signal-to-noise ratio at a single target point and further realizing high-precision depth measurement. Scanning of the entire target object relies on scanning devices such as mechanical motors, MEMS, photo phase control radar, etc. And splicing the depth data points obtained by scanning to obtain the discrete point cloud data required by 3D imaging. This method is advantageous for long-range 3D imaging, but requires the use of complex projection scanning systems, which is costly.
The ToF method of surface light projection projects a surface light beam with a continuous energy distribution. The projected light continuously covers the target object surface. The light detector is a light detector array capable of acquiring the propagation time of the light beam. When the optical signal reflected by the target object is imaged on the optical detector through the optical imaging system, the depth obtained by each detector image point is the depth information of the object image relationship corresponding to the object position. This method can be free of complex scanning systems. However, since the optical power density of the surface light projection is much lower than that of the singular collimated light, the signal-to-noise ratio is greatly reduced compared with the method of single-point scanning projection, so that the method can only be applied to scenes with reduced distance and lower precision.
SUMMERY OF THE UTILITY MODEL
To the defect among the prior art, the utility model aims at providing a 3D image device and electronic equipment based on synchronous ToF discrete point cloud. The utility model discloses a projection method of stray light beam acquires the point cloud data that have higher accuracy in step to realize low-cost, low-power consumption, the 3D formation of image of high accuracy.
According to the utility model provides a 3D image device based on synchronous ToF discrete point cloud, including stray light beam projector and light detector array imager;
the discrete light beam projector is used for projecting a plurality of discrete collimated light beams to a target object;
the photodetector array imager is configured to receive the plurality of discrete collimated light beams reflected by the target object and measure a propagation time of the plurality of discrete collimated light beams, thereby enabling depth data of the target object surface to be obtained.
Preferably, the discrete beam projector comprises an edge-emitting laser and a beam projector disposed on an optical path;
the edge-emitting laser is used for projecting laser to the beam projector;
the beam projector is used for projecting the incident laser light into a plurality of discrete collimated light beams.
Preferably, the discrete beam projector comprises a laser array, a collimating lens and a beam splitting device arranged on an optical path;
the laser array is used for projecting laser of a first order of magnitude to the collimating lens;
the collimating lens is used for collimating the incident laser and then emitting a collimated light beam with a first order of magnitude;
the beam splitting device is used for splitting the incident collimated light beam with the first order of magnitude to emit a collimated light beam with a second order of magnitude;
the second order of magnitude is greater than the first order of magnitude.
Preferably, the photodetector array imager comprises an optical imaging lens, a photodetector array and a driving circuit; the light detector array comprises a plurality of light detectors distributed in an array;
the optical imaging lens is used for enabling direction vectors of the collimated light beams which penetrate through the optical imaging lens and enter the light detector array to be in one-to-one correspondence with the light detectors;
the light detector is used for receiving the collimated light beam reflected by the target object;
the driving circuit is used for measuring the propagation time of a plurality of discrete collimated light beams and further generating depth data of the surface of the target object.
Preferably, the plurality of discrete collimated light beams are arranged periodically in a predetermined shape.
Preferably, the preset shape includes any one of the following shapes or any plurality of shapes that can be switched with each other:
straight line shape
-a triangle;
-a quadrilateral;
-a rectangle;
-circular;
-a hexagon;
-a pentagon.
Preferably, the plurality of discrete collimated light beams are non-periodically arranged in another predetermined shape.
Preferably, the aperiodic arrangement includes any one of the following arrangements or any plurality of arrangements that can be switched with each other:
-a random arrangement;
-a spatial coding arrangement;
-a quasi-lattice arrangement.
Preferably, the light detector adopts any one of the following light sensors:
-a CMOS light sensor;
-a CCD light sensor;
SPAD light sensor.
The utility model provides an electronic device, which comprises a 3D imaging device based on synchronous ToF discrete point cloud and a display panel; the discrete beam projector and the photodetector array imager are located on the display panel backlight side;
a plurality of discrete collimated light beams projected by the discrete light beam projector penetrate through the display panel and then irradiate on the target object;
the light detector array imager receives a plurality of discrete collimated light beams which penetrate through the display panel after being reflected by the target object, and obtains a depth image of the surface of the target object according to the plurality of discrete collimated light beams.
Compared with the prior art, the utility model discloses following beneficial effect has:
the utility model discloses a discrete light beam projector throws the discrete collimated light beam of multi-beam to the target object for the partial collimated light beam of target object reflection is received to the light detector array imager, realizes acquireing of the degree of depth data on target object surface, has improved beam power density, realizes balancing between SNR and the point cloud density, thereby can low cost, low-power consumption, the high accuracy carries out 3D formation of image.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts. Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural diagram of a 3D imaging device based on a synchronous ToF discrete point cloud according to the present invention;
fig. 2 is a schematic diagram of a discrete beam projector according to the present invention;
fig. 3 is a schematic view of another embodiment of the discrete beam projector of the present invention;
fig. 4 is a schematic structural diagram of an optical imaging lens according to the present invention;
fig. 5(a), (b), (c) are schematic diagrams of the periodic arrangement of a plurality of discrete collimated light beams in the present invention; and
fig. 6(a), (b), (c) are schematic diagrams of non-periodic arrangement of a plurality of discrete collimated light beams in the present invention;
in the figure:
1 is a discrete beam projector;
2 is a photodetector array imager;
3 is a target object;
101 is a photodetector array;
102 is an optical imaging lens;
201 is an edge-emitting laser;
202 is a beam projector;
203 is a laser array;
204 is a collimating lens;
205 is a beam splitting device.
Detailed Description
The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. The connection may be for fixation or for circuit connection.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
The utility model discloses in, the utility model provides a compromise scheme of single-point scanning projection method and surface light projection method, a projecting beam discrete collimated light beam is thrown out simultaneously to a projecting apparatus promptly, pairs with TOF light detector array 101, can obtain the synchronous 3D point cloud that includes a plurality of target point depth data in the single measurement. The number of collimated beams projected simultaneously may vary from a few to tens of thousands, depending on the requirements of the actual application. The utility model discloses quantity through the control beam, under equal power, realize the trade-off and the optimization of beam power density (SNR promptly) and point cloud density. When the number of the light beams is small, each point obtains higher signal-to-noise ratio and precision, but the point cloud is sparse; at higher numbers of beams, the point cloud is denser, but the signal-to-noise ratio and accuracy are relatively degraded, but still better than the method of surface light projection. Thereby can realize the utility model discloses according to concrete 3D formation of image application scene optimization precision and some cloud density. In addition because the utility model discloses in all 3D point clouds by synchronous measurement acquisition, can avoid in the single-point scanning method, target object 3 and 3D image device have the problem that needs to adopt the algorithm to revise the point cloud under the relative motion condition.
Fig. 1 is a schematic structural diagram of a 3D imaging device based on a synchronous ToF discrete point cloud in the present invention, as shown in fig. 1, the present invention provides a 3D imaging device based on a synchronous ToF discrete point cloud, which includes a discrete beam projector 1 and a light detector array imager 2;
the discrete beam projector 1 for projecting a plurality of discrete collimated beams of light towards a target object 3;
the photodetector array imager 2 is configured to receive the plurality of discrete collimated light beams reflected by the target object 3 and measure the propagation time of the plurality of discrete collimated light beams, so as to obtain depth data of the surface of the target object 3.
In this embodiment, the utility model discloses a discrete light beam projector 1 throws multi-beam discrete collimated light beam to target object 3 for light detector array imager 2 receives the partial collimated light beam through the 3 reflections of target object, realizes the acquirement to the depth data on 3 surfaces of target object, has improved beam power density, realizes balancing between SNR and point cloud density, thereby can low-cost, low-power consumption, the high accuracy carries out 3D formation of image.
Above is the core thought of the utility model, for making the above-mentioned purpose, characteristic and advantage of the utility model can be more obvious understandable, will combine below in the embodiment of the utility model the drawing, to technical scheme in the embodiment of the utility model is clear, completely describe, obviously, the embodiment that describes is only a partial embodiment of the utility model, rather than whole embodiment. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In an embodiment of the present invention, the discrete multiple beams of collimated light beams projected by the discrete light beam projector 1 are reflected by the target object 3, the partially reflected collimated light beams are received by the light detector array 101, and each light detector can obtain the time of flight t from the emitting to the receiving of the corresponding light beam, so as to obtain the distance of flight s ═ ct of the collimated light beams through the speed of light c, thereby measuring the depth information of the surface position of the target object 3 irradiated by the discrete light beams. These discrete-position depth data points construct point cloud data that can replicate the 3D morphology of the object, enabling 3D imaging of the target object 3. The plurality of discrete collimated light beams is tapered.
In an embodiment of the invention, the number of discrete collimated light beams is between two and several tens of thousands of beams, such as 2 to 10 thousands of beams.
In an embodiment of the utility model, the utility model provides a 3D imaging device based on synchronous ToF discrete point cloud, include the drive circuit who links to each other with discrete light beam projector 1 and light detector array imager 2. The driving circuit is used to control the discrete beam projector 1 and the photodetector array imager 2 to be turned on or off simultaneously.
The driving circuit may be a separate dedicated circuit, such as a dedicated SOC chip, an FPGA chip, an ASIC chip, or the like, or may include a general-purpose processor, such as when the depth camera is integrated into an intelligent terminal, such as a mobile phone, a television, a computer, or the like, and the processor in the terminal may serve as at least one part of the processing circuit
Fig. 2 is a schematic structural diagram of a discrete light beam projector according to the present invention, and as shown in fig. 2, the discrete light beam projector 1 includes an edge emitting laser 201 and a light beam projector 202 disposed on a light path;
the edge-emitting laser 201 is used for projecting laser to the beam projector 202;
the beam projector 202 is configured to project the incident laser light into a plurality of discrete collimated beams.
In the embodiment of the present invention, the inner surface of the beam splitting projector is processed with the optical chip of the micro-nano structure and is matched with the optical lens to form the optical chip. The beam splitting projector can perform the function of splitting incident light from the edge-emitting laser 201 into any number of collimated beams. The emission direction of the edge-emitting laser 201 and the projection direction of the beam splitting projector may be the same, or may be at 90 degrees or any angle required for the optical system design.
Fig. 3 is another schematic structural diagram of the discrete light beam projector of the present invention, as shown in fig. 3, the discrete light beam projector 1 includes a laser array 203, a collimating lens 204 and a beam splitting device 205 disposed on a light path;
the laser array 203 is used for projecting laser of a first order of magnitude to the collimating lens 204;
the collimating lens 204 is configured to collimate the incident laser light and emit a collimated light beam of a first order of magnitude;
the beam splitting device 205 is configured to split the incident collimated light beam of the first order of magnitude and emit a collimated light beam of a second order of magnitude;
the second order of magnitude is greater than the first order of magnitude.
In an embodiment of the invention, the second order of magnitude is one to two times the first order of magnitude.
In the embodiment of the present invention, the Laser array 203 may be formed by a plurality of Vertical Cavity Surface Emitting Lasers (VCSELs) or a plurality of Edge Emitting Lasers (EELs). The multiple laser beams can become highly parallel collimated beams after passing through the collimating lens 204. The beam splitting device 205 may be used to achieve more collimated beams as required by the number of discrete beams in practical applications. The beam splitting device 205 may employ a diffraction grating (DOE), a Spatial Light Modulator (SLM), or the like.
Fig. 4 is a schematic structural diagram of an optical imaging lens according to the present invention, and as shown in fig. 4, the photodetector array imager 2 includes an optical imaging lens 102, a photodetector array 101, and a driving circuit; the light detector array 101 comprises a plurality of light detectors distributed in an array;
the optical imaging lens 102 is configured to enable a direction vector of the collimated light beam entering the light detector array 101 through the optical imaging lens 102 to have a one-to-one correspondence with the light detectors;
the light detector is used for receiving the collimated light beam reflected by the target object 3;
the driving circuit is configured to measure the propagation time of a plurality of discrete collimated light beams and further generate depth data of the surface of the target object 3.
In order to filter background noise, a narrow band filter is usually installed in the optical imaging lens 102, so that the photodetector array 101 can only pass incident collimated light beams with preset wavelength. The preset wavelength can be the wavelength of the incident collimated light beam, and can also be between 50 nanometers smaller than the incident collimated light beam and 50 nanometers larger than the incident collimated light beam. The photodetector array 101 may be arranged periodically or aperiodically. Each photodetector, in cooperation with an auxiliary circuit, may enable measurement of the time of flight of the collimated beam. The photodetector array 101 may be a combination of multiple single-point photodetectors or a sensor chip integrating multiple photodetectors, as required by the number of discrete collimated light beams. To further optimize the sensitivity of the light detectors, the illumination spot of one discrete collimated light beam on the target object 3 may correspond to one or more light detectors. When a plurality of light detectors correspond to the same irradiation light spot, signals of each detector can be communicated through a circuit, so that the light detectors with larger detection areas can be combined.
In an embodiment of the present invention, the plurality of discrete collimated light beams are periodically arranged in a predetermined shape, i.e. in a geometric regular distribution.
Fig. 5(a), (b), and (c) are schematic diagrams of the periodic arrangement of a plurality of discrete collimated light beams according to the present invention, as shown in fig. 5, in an embodiment of the present invention, the predetermined shape includes any one of the following shapes or any plurality of shapes that can be switched with each other:
straight line shape
-a triangle;
-a quadrilateral;
-a rectangle;
-circular;
-a hexagon;
-a pentagon.
The shape of the periodic arrangement of the plurality of discrete collimated light beams is not limited to the above shape, and the plurality of discrete collimated light beams may be arranged in other shapes. As shown in fig. 5(a), when the preset shape is a rectangle, that is, the unit arrangement shape of the collimated light beams in one period is a rectangle, and is periodically repeated in space. As shown in fig. 5(b), when the preset shape is a triangle, that is, the unit arrangement shape of the collimated light beam in one period is a triangle, and is periodically repeated in space. As shown in fig. 5(c), when the preset shape is a hexagon, that is, the unit arrangement shape of the collimated light beams in one period is a hexagon, and is periodically repeated in space. Because the utility model discloses be subject to optical system when realizing, the distortion may exist in arranging of actual collimated light beam in the cross-section, for example take place tensile, distortion etc.. And the energy distribution of each collimated light beam in the cross section can be circular, circular ring or elliptical and the like. In such an arrangement as shown in fig. 5, it is advantageous to simplify the spatial correspondence of the plurality of discrete collimated light beams to the photodetector array 101.
In an embodiment of the invention, the plurality of discrete collimated light beams are non-periodically arranged in another predetermined shape.
In an embodiment of the present invention, the aperiodic arrangement includes any one of the following arrangement modes or any plurality of arrangement modes that can be switched to each other:
-a random arrangement;
-a spatial coding arrangement;
-a quasi-lattice arrangement.
The shape of the non-periodic arrangement of the plurality of discrete collimated light beams is not limited to the above shape, and the plurality of discrete collimated light beams may be arranged in other shapes. As shown in fig. 6(a), the spatial coding arrangement, specifically, in the periodic arrangement, a part of the light beams is deleted, so as to implement the spatial coding of the arrangement position, and the actually adopted coding is not limited to the example in fig. 6 (a); as shown in fig. 6(b), the random arrangement, specifically the arrangement of the collimated light beams, is randomly distributed so that the similarity of the arrangement pattern at different positions is small or close to zero, and as shown in fig. 6(c), the quasi-lattice arrangement, specifically the quasi-collimated light beams, are non-periodically arranged at close proximity positions and are periodically arranged at long distances. Because the utility model discloses be subject to optical system when realizing, the distortion may exist in arranging of actual collimated light beam in the cross-section, for example take place tensile, distortion etc.. And the energy distribution of each collimated light beam in the cross section can be circular, circular ring or elliptical and the like. In this arrangement as shown in fig. 6, this arrangement facilitates uniform sampling of non-deterministic targets, optimizing the effect of the final 3D depth map.
In an embodiment of the present invention, the optical detector employs any one of the following optical sensors:
-a CMOS light sensor;
-a CCD light sensor;
SPAD light sensor.
The type of the light detector is not limited to the light sensor, and may also include other types of light sensors.
The embodiment of the utility model provides an embodiment still provides an electronic equipment, include the 3D image device based on synchronous ToF discrete point cloud of above-mentioned embodiment, still include display panel; the discrete beam projector 1 and the photodetector array imager 2 are located on the display panel backlight side;
a plurality of discrete collimated light beams projected by the discrete light beam projector 1 penetrate the display panel and irradiate the target object 3;
the photodetector array imager 2 receives a plurality of discrete collimated light beams reflected by the target object 3 and penetrating through the display panel, and obtains a depth image of the surface of the target object 3 according to the plurality of discrete collimated light beams.
In an embodiment of the present invention, the photodetector array imager 2 ensures the spatial position correspondence between the projected multiple discrete collimated light beams and the photodetector array 101. So that each photodetector in the photodetector array 101 can measure the propagation time of light by using a ToF method of modulating a light beam or pulse continuously in time, and then calculate the distance traveled by light by means of the speed of light.
The pulse-based ToF method, also known as direct ToF method, is specifically: the light detector is capable of sensitively detecting the waveform of a light pulse and then obtaining the time for the collimated light beam to travel between the discrete light beam projector 1 and the light detector array imager 2 compared to the emission time of the light pulse. In this method, a Single Photon Avalanche Diode (SPAD) is a commonly used photodetector. Single photon avalanche diodes are capable of counting photons of an optical pulse very sensitively and at high speed. Namely, counting the number of photons at different times in a pulse time window, and recovering the integral waveform of the pulse. The pulse-based ToF method has low power consumption requirements for the projector and is advantageous for eliminating interference from multipath beams.
The ToF method based on time-continuously modulating a beam is also called an index ToF method. The method specifically comprises the following steps: the time continuous modulation is usually a sine wave modulation mode, the light detector can be realized by a CMOS or CCD photosensitive mode, and the discrete light beam projector 1 continuously emits collimated light beams to the target object 3 under high-frequency modulation, and the collimated light beams are received by the light detector array 101 after being reflected by the target object 3. Each photodetector records the phase change of the emitted collimated beam and the received collimated beam, thereby enabling depth information of the surface position of the target object 3 to be obtained. Since the ToF method based on time-continuous modulation of the light beam is an energy integration process, the accuracy is higher compared to pulsed measurement, and the light source is not required to be a short-time high-intensity pulse, different types of light sources can be used, and different modulation methods can be applied.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (10)
1. A3D imaging device based on synchronous ToF discrete point cloud is characterized by comprising a discrete beam projector and a light detector array imager;
the discrete light beam projector is used for projecting a plurality of discrete collimated light beams to a target object;
the photodetector array imager is configured to receive the plurality of discrete collimated light beams reflected by the target object and measure a propagation time of the plurality of discrete collimated light beams, thereby enabling depth data of the target object surface to be obtained.
2. The synchronized ToF discrete point cloud based 3D imaging device according to claim 1, wherein said discrete beam projector comprises an edge emitting laser and a beam projector arranged on an optical path;
the edge-emitting laser is used for projecting laser to the beam projector;
the beam projector is used for projecting the incident laser light into a plurality of discrete collimated light beams.
3. The synchronized ToF discrete point cloud based 3D imaging device according to claim 1, wherein said discrete beam projector comprises a laser array, a collimating lens and a beam splitting device arranged on an optical path;
the laser array is used for projecting laser of a first order of magnitude to the collimating lens;
the collimating lens is used for collimating the incident laser and then emitting a collimated light beam with a first order of magnitude;
the beam splitting device is used for splitting the incident collimated light beam with the first order of magnitude to emit a collimated light beam with a second order of magnitude;
the second order of magnitude is greater than the first order of magnitude.
4. The synchronous ToF discrete point cloud based 3D imaging device according to claim 1, wherein the photodetector array imager comprises an optical imaging lens, a photodetector array and a driving circuit; the light detector array comprises a plurality of light detectors distributed in an array;
the optical imaging lens is used for enabling direction vectors of the collimated light beams which penetrate through the optical imaging lens and enter the light detector array to be in one-to-one correspondence with the light detectors;
the light detector is used for receiving the collimated light beam reflected by the target object;
the driving circuit is used for measuring the propagation time of a plurality of discrete collimated light beams and further generating depth data of the surface of the target object.
5. The synchronized ToF discrete point cloud based 3D imaging device according to claim 1, wherein the plurality of discrete collimated light beams are periodically arranged in a predetermined shape.
6. The synchronized ToF discrete point cloud based 3D imaging device according to claim 5, wherein said preset shape comprises any one of the following shapes or any plurality of shapes that can be switched to each other:
straight line shape
-a triangle;
-a quadrilateral;
-a rectangle;
-circular;
-a hexagon;
-a pentagon.
7. The synchronized ToF discrete point cloud based 3D imaging device according to claim 1, wherein the plurality of discrete collimated light beams are non-periodically arranged in another predetermined shape.
8. The synchronized ToF discrete point cloud based 3D imaging device according to claim 7, wherein said aperiodic arrangement comprises any one of the following arrangements or any plurality of arrangements that can be switched to each other:
-a random arrangement;
-a spatial coding arrangement;
-a quasi-lattice arrangement.
9. The synchronous ToF discrete point cloud based 3D imaging device according to claim 1, wherein the light detector employs any one of the following light sensors:
-a CMOS light sensor;
-a CCD light sensor;
SPAD light sensor.
10. An electronic device comprising the synchronous ToF discrete point cloud based 3D imaging apparatus according to any one of claims 1 to 9, further comprising a display panel; the discrete beam projector and the photodetector array imager are located on the display panel backlight side;
a plurality of discrete collimated light beams projected by the discrete light beam projector penetrate through the display panel and then irradiate on the target object;
the light detector array imager receives a plurality of discrete collimated light beams which penetrate through the display panel after being reflected by the target object, and obtains a depth image of the surface of the target object according to the plurality of discrete collimated light beams.
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|---|---|---|---|---|
| WO2022032516A1 (en) * | 2020-08-12 | 2022-02-17 | 深圳市速腾聚创科技有限公司 | Laser radar and detection method therefor, storage medium, and detection system |
| CN112318107A (en) * | 2020-10-23 | 2021-02-05 | 西北工业大学 | Large-scale part hole shaft automatic assembly centering measurement method based on depth camera |
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