CN106569382A - Laser projector and depth camera thereof - Google Patents
Laser projector and depth camera thereof Download PDFInfo
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- CN106569382A CN106569382A CN201610951201.9A CN201610951201A CN106569382A CN 106569382 A CN106569382 A CN 106569382A CN 201610951201 A CN201610951201 A CN 201610951201A CN 106569382 A CN106569382 A CN 106569382A
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- laser
- optical element
- light
- diffraction optical
- lens
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B21/00—Projectors or projection-type viewers; Accessories therefor
- G03B21/14—Details
- G03B21/20—Lamp housings
- G03B21/208—Homogenising, shaping of the illumination light
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/42—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect
- G02B27/4233—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect having a diffractive element [DOE] contributing to a non-imaging application
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/48—Laser speckle optics
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B21/00—Projectors or projection-type viewers; Accessories therefor
- G03B21/14—Details
Abstract
The invention discloses a laser projector and a depth camera thereof. The laser projector comprises a foundation, at least two light emitting elements, a controller, at least two lenses and a diffraction optical element, wherein the at least two light emitting elements are fixed at one side of the foundation facing towards the diffraction optical element and emit laser under the control of the controller, the diffraction optical element is arranged at a position spaced from the foundation a first distance and is used for emitting laser patterns after laser beam expansion, and the at least two lenses are arranged between the foundation and the diffraction optical element and/or at one side of the diffraction optical element opposite to the foundation, are used for carrying out focusing and/or collimation of the laser and are set to have at least two types of different focal lengths and/or at least two different second distances spaced from the at least two light emitting elements. The laser projector is advantaged in that laser pattern irrelevance is improved on the condition that output power and volume requirements can be satisfied, and thereby a depth image acquisition speed and acquisition precision of the depth camera are improved.
Description
Technical field
The present invention relates to optical field, more particularly to a kind of laser-projector and its depth camera.
Background technology
Laser-projector is used to object space the optical design for launching setting, is being led based on optical three-dimensional measurement
Domain, laser-projector are widely applied.Laser-projector is typically made up of light source, collimating mirror and diffraction optical element,
Wherein light source can be the face battle array laser that single edge emitting LASER Light Source can also be made up of multiple vertical cavity surface-emitting lasers
Light source etc..
The higher laser pattern of irrelevance, but its can be launched based on the laser-projector of single edge emitting LASER Light Source
Volume can be significantly increased with the increase of output, and the uniformity of the laser pattern is poor；And be based on by least two
The laser-projector of vertical cavity surface-emitting laser light source can be launched equal-wattage with less volume and have higher uniform
The laser pattern of property, but the irrelevance of the laser pattern is relatively low, and the height of the irrelevance of laser pattern is directly affected
The speed of the height and acquisition speed of its depth image precision.
The content of the invention
The invention mainly solves the technical problem of a kind of laser-projector and its depth camera are provided, to solve existing skill
It is the output and volume requirement for meeting laser-projector in art, and causes the irrelevance of the laser pattern of its transmitting to reduce
Problem.
To solve above-mentioned technical problem, the present invention provides a kind of laser-projector, including：Substrate, at least two luminous units
Part, controller, at least two lens and diffraction optical element；The diffraction optical element is arranged on and the substrate separation first
On the position of distance；At least two light-emitting component is fixed on the substrate towards the diffraction optical element side；It is described
At least two lens are arranged between the substrate and the diffraction optical element；
The light-emitting component launches laser under the control of the controller；At least two lens be used for focus on and/
Or the laser that collimation is launched by least two light-emitting component, wherein at least two lens are different with least two
Focal length and/or at least two different second distances with least two light-emitting component interval；The diffraction optics unit
Part for will at least two lens focuss described in and/or collimation after laser beam expanding after launch laser pattern in space.
Wherein, first threshold of the difference of the maxima and minima in described at least two different focal lengths less than setting
Value.
Wherein, the difference of the maxima and minima in described at least two different second distances less than setting second
Threshold value.
Wherein, the laser-projector is further included：Be arranged on the diffraction optical element dorsad the substrate one
Threeth distance with diffraction optical element interval different with least two different focal lengths and/or at least two of side
At least two lens.
Wherein, the controller is individually controlled at least two light-emitting component, is grouped control or overall control
System.
Wherein, at least two lens and at least two light-emitting component in a pair one or one-to-many corresponding pass
System.
Wherein, the light-emitting component is vertical cavity surface emitting laser.
Wherein, the laser pattern of the diffraction optical element transmitting is speckle particle pattern, in the speckle particle pattern
Granule at least has two kinds of different sizes.
To solve above-mentioned technical problem, the present invention also provides another kind of laser-projector, including：Substrate, at least two
Optical element, controller, at least two lens and diffraction optical element；The diffraction optical element is arranged on and the substrate separation
On the position of the first distance；At least two light-emitting component is fixed on the substrate towards the diffraction optical element side；
At least two lens are arranged at the side of the diffraction optical element dorsad substrate；
The light-emitting component launches laser under the control of the controller；The diffraction optical element is used for by described in extremely
The laser beam expanding that few two light-emitting components are launched；At least two lens are used to focus on and/or collimate by the diffraction light
Learn the laser after element is expanded and launch laser pattern in space, wherein at least two lens are different with least two
Focal length and/or at least two different second distances with least two light-emitting component interval.
To solve above-mentioned technical problem, the present invention also provides a kind of depth camera, including：Image acquisition units, processor
And described laser-projector；
The laser figure that described image collecting unit is projected in being used for collection from the laser-projector to object space
Case；The processor is for obtaining depth image by carrying out process to the laser pattern.
The invention has the beneficial effects as follows：Prior art is different from, a kind of laser-projector of the invention and its depth camera are logical
The output and volume requirement that laser-projector is met using at least two light-emitting components is crossed, while by arranging at least two
Lens have at least two different focal lengths and/or cause with the distance between at least two different lens and light-emitting component
There are at least two different waist radiuses and angle of flare by the laser of at least two lens, the laser is by diffraction optics unit
Can launch after the expanding of part and form the laser pattern with least two light-emitting areas, so as to improve swashing for laser-projector transmitting
The irrelevance of light pattern, further improve its depth camera obtain the laser pattern depth image speed and precision.
Description of the drawings
Fig. 1 is the structural representation of laser-projector first embodiment of the present invention；
Fig. 2 is the schematic diagram of laser pattern in Fig. 1 embodiments；
Fig. 3 is the structural representation of one embodiment of lens arra in laser-projector of the present invention；
Fig. 4 is the distribution schematic diagram of light-emitting component in Fig. 1 embodiments；
Fig. 5 is the structural representation of laser-projector second embodiment of the present invention
Fig. 6 is schematic diagram of the controller to light-emitting component control mode first embodiment in Fig. 1 embodiments；
Fig. 7 is schematic diagram of the controller to light-emitting component control mode second embodiment in Fig. 1 embodiments；
Fig. 8 is schematic diagram of the controller to light-emitting component control mode 3rd embodiment in Fig. 1 embodiments；
Fig. 9 is the structural representation of laser-projector 3rd embodiment of the present invention
Figure 10 is the schematic diagram of laser pattern in Fig. 9 embodiments；
Figure 11 is the structural representation of one embodiment of depth camera of the present invention.
Specific embodiment
Refering to Fig. 1, Fig. 1 is the structural representation of one embodiment of laser-projector of the present invention.
The present embodiment laser-projector includes substrate 10, at least two light-emitting components 11 and 12, controller 13, at least two
Lens 151,152 and diffraction optical element 14.
Wherein, diffraction optical element 14 is arranged on and is spaced on the position of the first distance with substrate 10；At least two luminous units
Part 11,12 is fixed on substrate 10 towards the side of diffraction optical element 14；At least two lens 151,152 be arranged at substrate 10 with
Between diffraction optical element 14.
Wherein, at least two light-emitting components 11,12 launch laser under the control of controller 13, at least two lens 151,
152 are used to focusing on and/or collimating the laser launched by least two light-emitting components 11,12, and at least two shown in figure are saturating
Mirror 151,152 has at least two different focal lengths, and certain at least two lens 151,152 can also be different with least two
The second distance with the interval of at least two light-emitting component 11,12, or while with different focal lengths and second distance；Diffraction
Optical element 14 for will Jing at least two lens 151,152 focus on and/or collimate after laser beam expanding after in space launch
Laser pattern.
The waist radius and angle of flare of the laser after the focusing of lens and/or collimation and focal length and the incidence of lens
Spacing between the light source of laser and lens is relevant.In the present embodiment laser through with least two different focal lengths and/or
Can be with a tight waist with least two after at least two different at least two lens focuss and/or collimation with light-emitting component spacing
The imaging Laser of radius and angle of flare, so that the laser pattern of the Laser emission includes at least two different size sizes
Light beam, while output and volume requirement is met, can improve the irrelevance of laser pattern.
Further the irrelevance of laser pattern in Fig. 1 embodiments is illustrated.Refering to Fig. 2, Fig. 2 is Fig. 1 embodiments
The schematic diagram of middle laser pattern, it is higher unique that the irrelevance of the laser pattern refers to that its each pattern sub-district 21,22,23 has
Property, this uniqueness include the uniqueness of the shape of laser pattern, size, arrangement position etc..From figure 2 it can be seen that pattern is sub
Irrelevance of the irrelevance in area 21 and 22 less than the irrelevance or pattern sub-district 22 and 23 of pattern sub-district 21 and 23.At this
In embodiment, pattern sub-district does not have exhaustion, and the pattern sub-district size can be the pixel sizes such as 7x7,11x11, each pattern sub-district
21st, depending on specific requirement of 22,23 size according to laser-projector to the irrelevance of the laser pattern of transmitting.
The focal length of lens is mainly determined by the radius of curvature of the Refractive Index of Material of making lens, air refraction, lens surface
It is fixed.Alternatively, at least two can be obtained by arranging the radius of curvature difference of at least two lens 151,152 in the present embodiment
Different focal lengths are planted, certainly, the methods such as at least two different lens materials is may also be employed and is obtained at least two different focal lengths.
Alternatively, refering to Fig. 3, can be flat using at least two lens 151,152 are arranged at least two in the present embodiment
Go in the plane 153,154 of substrate 10, to obtain at least two kinds at least two different lens 151,152 and at least two
The second distance at the interval of light-emitting component 11,12, naturally it is also possible to replace this mode using other set-up modes.
Alternatively, first threshold of the difference of the maxima and minima of at least two different focal lengths less than setting, with
Ensure image quality.
Alternatively, at least two lens, 151,152 and at least two light-emitting component 11,12 in a pair one corresponding relation or
The corresponding relation of one-to-many.In general, during many in a pair corresponding relation of lens and light-emitting component, refer to single lens correspondence
Multiple light-emitting components；The multiple lens of single light-emitting component correspondence can certainly be referred to.
Alternatively, the maximum of the second distance of at least two lens, 151,152 and at least two light-emitting component 11,12 with
Second Threshold of the difference of minima less than setting.The Second Threshold can be set according to projector design demand.
Refering to Fig. 4, Fig. 2, Fig. 4 is light-emitting component distribution schematic diagram in Fig. 1 embodiments.Alternatively, diffraction optical element 14
The laser pattern of transmitting be speckle particle pattern, due to the speckle particle pattern be Jing have at least two different focals and/or
At least two it is different with the second distances at the interval of light-emitting component 11,12 at least two lens, 151,152 pairs of laser focusings and/
Or collimation and (concrete principle in the above-described embodiments it is stated that) that obtain, therefore, at least have two in the speckle particle pattern
Plant the granule 24,25 of different different size sizes.
Alternatively, refering to Fig. 5, based on Fig. 1 embodiments, at least two can be arranged between substrate 10 and diffraction optical element 14
While individual lens 151,152, the side of the dorsad substrate 10 of diffraction optical element 14 further arrange at least two lens 51,
52, at least two lens 51,52 shown in figure respectively have at least two different focal lengths, certain at least two lens 51,
52 can also have at least two different the 3rd distances between diffraction optical element 14, or while have at least two
Different focal lengths and the 3rd distance.The set-up mode can further improve laser figure while laser-projector integrated level is met
The irrelevance of case.
Alternatively, light-emitting component 11,12 is vertical cavity surface emitting laser.Vertical cavity surface emitting laser is a kind of vertical
Surface goes out the new laser of light.Compared with traditional edge-emitting laser, the laser instrument light emission direction is vertical with substrate, can be very
The integrated of high density two-dimensional array is easily realized, realizes that more power is exported, and as which is compared to edge-emitting lasers
Possess less volume, such that it is able to more advantageously be integrated in miniature electric components and parts；While the laser instrument and optical fiber
Coupling efficiency it is high, without the beam shaping system of complex and expensive, and manufacturing process is compatible with light emitting diode, drops significantly
Low production cost.Additionally, the laser that sends of light-emitting component 11,12 can have different waist radiuses and/or angle of flare and/
Or wavelength, further to improve the irrelevance of laser pattern.
Refering to Fig. 6 to Fig. 8, alternatively, can be worked (such as with 13 overall control at least two light-emitting component 11,12 of controller
Shown in Fig. 6).Certainly also can be worked (such as Fig. 7 with packet control at least two light-emitting component 11,12 of at least two controller 13,70
It is shown), or at least two 11,12 work (as shown in Figure 8) are individually controlled with least two controllers 13,70.This control
Depending on mode processed can be according to laser-projector design requirement itself or some functional parameters.
Refering to Fig. 9, in another embodiment, at least two are arranged in the side of the dorsad substrate 10 of diffraction optical element 14
Lens 91,92 (remove at least two lens 151,152 in other ingredients and Fig. 1 embodiments of the present embodiment laser-projector
Outside other ingredients there is identical set-up mode and operation principle, narration is not repeated herein), this setup
Can be more beneficial for improving the integrated level of laser-projector, at least two lens 91,92 shown in figure are different with least two
Focal length, certain at least two lens 91,92 can also have at least two it is different with least two light-emitting components 11,12 it
Between spacing, or while with different focal lengths and with the spacing between light-emitting component 11,12, further to improve laser figure
The irrelevance of case.
Alternatively, at least two can be arranged on parallel to substrate 10 using by least two lens 91,92 in the present embodiment
Different Plane on, with obtain at least two kinds different at least two lens, 91,92 and at least two light-emitting components 11,12 it
Between spacing, naturally it is also possible to replace this mode using other set-up modes.
Alternatively, first threshold of the difference of the maxima and minima of at least two different focal lengths less than setting, with
Ensure image quality.
Alternatively, at least two lens, 91,92 and at least two light-emitting component 11,12, one corresponding relation or in a pair
To many corresponding relations.
Alternatively, the maximum of the second distance of at least two lens, 91,92 and at least two light-emitting component 11,12 with most
Second Threshold of the difference of little value less than setting.The Second Threshold can be set according to projector design demand.
Alternatively, Figure 10 is participated in, the laser pattern of the transmitting of diffraction optical element 14 is speckle particle pattern, because at least two
Individual lens 101,102 have at least two different focal lengths and/or at least two different with least two light-emitting components 11,12
Between spacing, therefore, in the speckle particle pattern at least with two kinds of different different size sizes granule 101,102.
Alternatively, light-emitting component 11,12 is vertical cavity surface emitting laser.
Alternatively, can be worked with 13 overall control at least two light-emitting component 11,12 of controller.Certainly at least two also be can use
Individual controller packet or the individually work of control at least two light-emitting component 11,12.This control mode can be according to laser-projector
Depending on design requirement itself or some functional parameters.
Prior art is different from, above-described embodiment laser-projector is sharp to meet using at least two different light-emitting components
The output and volume requirement of light projector, while there are at least two different focal lengths by arranging at least two lens
And/or cause to have by the laser of at least two lens with the distance between at least two different lens and light-emitting component
At least two different waist radiuses and angle of flare, the laser have extremely by launch to be formed after the expanding of diffraction optical element
The laser pattern of few two kinds of light-emitting areas, so as to improve the irrelevance of the laser pattern of laser-projector transmitting, further carries
High its depth camera obtains the speed and precision of the depth image of the laser pattern.
Prior art is different from, above-described embodiment laser-projector adopts vertical cavity surface emitting laser as light source, can
To be easily carried out the integrated of high density two-dimensional array, realization causes the laser while laser-projector volume is not increased
There is projector more power to export, and production cost is relatively low, it is also possible to realize ensureing have more while identical output
Little volume.
Refering to Figure 11, Figure 11 is one example structure schematic diagram of depth camera of the present invention.
The present embodiment depth camera includes image acquisition device 111, processor 112 and laser-projector 113；
Wherein, laser-projector 113 is the laser-projector of Fig. 1 embodiments or Fig. 9 embodiments, and which is constituted and operation principle
Not repeated description here.
The laser pattern that image acquisition device 111 is projected in being mainly used in gathering from laser-projector 113 to object space, can
Selection of land, image acquisition device 111 are infrared camera, naturally it is also possible to substitute infrared camera using other image capture devices.
Processor 112 is for obtaining depth image by carrying out process to the laser pattern.
Alternatively, during processor 112 calculates each pixel of the laser pattern and reference pattern using image matching algorithm
The deviation value for corresponding to each pixel, the depth image of the laser pattern is further obtained according to the deviation value.
Wherein, the image matching algorithm is using digital picture correlation (DIC) algorithm.Other images can certainly be adopted
Replace DIC algorithms with algorithm.
Prior art is different from, the present embodiment depth camera is using image acquisition device collection based on different with least two
Focal length and/or at least two it is different with least two lens of the second distances at light-emitting component interval laser-projectors to
The laser pattern projected in object space, the laser pattern are that the laser Jing of at least two light-emitting components transmitting has at least two
After different focal lengths and/or at least two different at least two lens with light-emitting component spacing, obtain with least two
What the laser of different waist radiuses and angle of flare was formed Jing after the expanding of diffraction optical element, therefore the laser pattern has extremely
The pattern of few two kinds of different areas, dependency are higher.The laser pattern carries out process to the laser pattern by processor and obtains
Depth image, it is possible to increase depth camera obtains the speed and precision of the laser pattern.
Embodiments of the present invention are the foregoing is only, the scope of the claims of the present invention is not thereby limited, it is every using this
Equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations
Technical field, is included within the scope of the present invention.
Claims (10)
1. a kind of laser-projector, it is characterised in that include：
Substrate, at least two light-emitting components, controller, at least two lens and diffraction optical element；
The diffraction optical element is arranged on the position with the first distance of the substrate separation；
At least two light-emitting component is fixed on the substrate towards the diffraction optical element side；
At least two lens are arranged between the substrate and the diffraction optical element；
The light-emitting component launches laser under the control of the controller；
At least two lens are used to focusing on and/or collimating the laser launched by least two light-emitting component, wherein
At least two lens have at least two different focal lengths and/or at least two different with described at least two luminous units
The second distance at part interval；
The diffraction optical element for by least two lens focuss described in and/or collimation after laser beam expanding after to sky
Between in transmitting laser pattern.
2. laser-projector according to claim 1, it is characterised in that
First threshold of the difference of the maxima and minima in described at least two different focal lengths less than setting.
3. laser-projector according to claim 1, it is characterised in that
Second Threshold of the difference of the maxima and minima in described at least two different second distances less than setting.
4. laser-projector according to claim 1, it is characterised in that further include：
Be arranged on the diffraction optical element dorsad the side of the substrate with least two different focal lengths and/or at least
Two kinds of different at least two lens with the 3rd distance at diffraction optical element interval.
5. laser-projector according to claim 1, it is characterised in that
The controller is individually controlled at least two light-emitting component, is grouped control or overall control.
6. laser-projector according to claim 1, it is characterised in that
At least two lens and at least two light-emitting component in a pair one or one-to-many corresponding relation.
7. the laser-projector according to any one of claim 1 to 6, it is characterised in that
The light-emitting component is vertical cavity surface emitting laser.
8. the laser-projector according to claim 1 to 6, it is characterised in that
The laser pattern of the diffraction optical element transmitting is speckle particle pattern, and in the speckle particle pattern, granule at least has
There are two kinds of different sizes.
9. a kind of laser-projector, it is characterised in that include：
Substrate, at least two light-emitting components, controller, at least two lens and diffraction optical element；
The diffraction optical element is arranged on the position with the first distance of the substrate separation；
At least two light-emitting component is fixed on the substrate towards the diffraction optical element side；
At least two lens are arranged at the side of the diffraction optical element dorsad substrate；
The light-emitting component launches laser under the control of the controller；
The diffraction optical element is for the laser beam expanding of launching at least two light-emitting component；
At least two lens are sent out in space for focusing on and/or collimating from the diffraction optical element laser after expanding
Laser pattern is penetrated, wherein at least two lens have at least two different focal lengths and/or at least two different with institute
State the second distance at least two light-emitting components interval.
10. a kind of depth camera, it is characterised in that include：
Laser-projector described in image acquisition units, processor and any one of claim 1 to 9；
The laser pattern that described image collecting unit is projected in being used for collection from the laser-projector to object space；
The processor is for obtaining depth image by carrying out process to the laser pattern.
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| CN201610951201.9A CN106569382B (en) | 2016-10-26 | 2016-10-26 | Laser-projector and its depth camera |
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| CN106972347A (en) * | 2017-05-04 | 2017-07-21 | 深圳奥比中光科技有限公司 | The laser array being imaged for 3D |
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