CN108490628A - Structured light projector, depth camera and electronic equipment - Google Patents
Structured light projector, depth camera and electronic equipment Download PDFInfo
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- CN108490628A CN108490628A CN201810200423.6A CN201810200423A CN108490628A CN 108490628 A CN108490628 A CN 108490628A CN 201810200423 A CN201810200423 A CN 201810200423A CN 108490628 A CN108490628 A CN 108490628A
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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
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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
- G02B27/4205—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect having a diffractive optical element [DOE] contributing to image formation, e.g. whereby modulation transfer function MTF or optical aberrations are relevant
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- 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
- G01B11/2513—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 with several lines being projected in more than one direction, e.g. grids, patterns
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Projection Apparatus (AREA)
Abstract
The invention discloses a kind of structured light projector, depth camera and electronic equipments.Structured light projector includes light source, collimating element and diffraction optical element.Light source is for emitting laser.Light source includes the light-emitting device array of substrate and setting on substrate.Substrate includes first area and the second area that connects with first area.The density of the light-emitting component of first area is different from the density of the light-emitting component of second area.Collimating element is used for collimation laser.Diffraction optical element is for the laser after diffraction collimating element collimation to form laser pattern.In the structured light projector of embodiment of the present invention, depth camera and electronic equipment, the density of the light-emitting component of first area is different from the density of the light-emitting component of second area, the irrelevance that laser pattern can be improved, to improve the speed and precision of the depth image for obtaining the laser pattern.
Description
Technical field
The present invention relates to technical field of imaging, more particularly to a kind of structured light projector, depth camera and electronic equipment.
Background technology
The structured light projectors such as laser-projector be used to object space transmitting setting optical design, based on
Optical three-dimensional measurement field, structured light projector are widely applied.Structured light projector is generally by light source, collimating element
And diffraction optical element composition, wherein light source can be single edge emitting laser light source, can also be by multiple vertical cavity surfaces
Emit the face battle array laser light source etc. of laser composition.Structured light projector based on single edge emitting laser light source can emit not phase
The higher laser pattern of closing property, but its volume can be significantly increased with the increase of output power, and the laser pattern is uniform
Property is poor；And it can be emitted with smaller volume based on the structured light projector by least two vertical cavity surface-emitting laser light sources
Go out equal-wattage and the laser pattern with more high uniformity, but the irrelevance of the laser pattern is relatively low, and laser pattern
The height of irrelevance directly affects the height of its depth image precision and obtains the speed of depth image speed.
Invention content
A kind of structured light projector of embodiment of the present invention offer, depth camera and electronic equipment.
The structured light projector of embodiment of the present invention, including：
Light source, the light source include the luminous member of substrate and setting over the substrate for emitting laser, the light source
Part array, the substrate include first area and the second area that connects with the first area, the first area it is described
The density of light-emitting component is different from the density of the light-emitting component of the second area；
Collimating element, the collimating element is for collimating the laser；And
Diffraction optical element, laser of the diffraction optical element for after collimating element collimation described in diffraction are sharp to be formed
Light pattern.
In some embodiments, the first density of the light-emitting component is less than the second area in the first area
Second density of the interior light-emitting component.
In some embodiments, first density is zero.
In some embodiments, the density of the light-emitting component is gradually increased from the first area to the second area
Greatly.
In some embodiments, the light-emitting device array is in matrix distribution, the luminous member of the second area
Part is located at at least both sides of the light-emitting component of the first area.
In some embodiments, the light-emitting device array is distributed in a ring, the luminous member of the second area
The light-emitting component of the part around the first area is arranged.
In some embodiments, the luminous member of the light-emitting component and the second area of the first area
Part is driven separately to emit laser, and the intensity of the laser of the light-emitting component transmitting of the first area is less than described second
The intensity of the laser of the light-emitting component transmitting in region.
In some embodiments, the light-emitting area of the light-emitting component of the first area is less than the second area
The light-emitting component light-emitting area.
The depth camera of embodiment of the present invention, including：
Structured light projector described in any of the above-described embodiment；
Image acquisition device, described image collector project after the diffraction optical element into object space for acquiring
Laser pattern；With
The processor being connect respectively with the structured light projector and described image collector, the processor is for locating
The laser pattern is managed to obtain depth image.
The electronic equipment of embodiment of the present invention, including：
Shell；And
Depth camera described in any of the above-described embodiment, the depth camera are arranged in the shell and from the shells
Body is exposed to obtain depth image.
In the structured light projector of embodiment of the present invention, depth camera and electronic equipment, the light-emitting component of first area
Density it is different from the density of the light-emitting component of second area, the irrelevance of laser pattern can be improved, to improve obtain
The speed and precision of the depth image of the laser pattern.
The additional aspect and advantage of embodiment of the present invention will be set forth in part in the description, partly will be from following
Become apparent in description, or practice through the invention is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention can be from the description in conjunction with following accompanying drawings to embodiment
It will be apparent and be readily appreciated that, wherein：
Fig. 1 is the structural schematic diagram of the structured light projector of certain embodiments of the present invention；
Fig. 2 to Fig. 7 is the structural schematic diagram of the light source of the structured light projector of certain embodiments of the present invention；
Fig. 8 to Figure 19 is the part-structure signal of the collimating element of the structured light projector of certain embodiments of the present invention
Figure；
Figure 20 is the structural schematic diagram of the depth camera of certain embodiments of the present invention；
Figure 21 is the structural schematic diagram of the electronic equipment of certain embodiments of the present invention；
Main element and symbol description：
Structured light projector 100, board unit 10, substrate 11, heat emission hole 111, circuit board 12, via 121, lens barrel 20,
Host cavity 21, bottom 23, through-hole 24, plummer 25, the first segment structure 26, the first segment structure 27, protective cover 30, supports top 22
Contacting surface 31, loophole 32, light source 40, light-emitting surface 41, substrate 43, first area 432, the first subregion 4322, the second subregion
4324, second area 434, third subregion 4342, the 4th subregion 4344, light-emitting component 44, collimating element 50, the first lens
51, the first incidence surface 511, the first light-emitting surface 512, the second lens 52, the second incidence surface 521, the second light-emitting surface 522, third are saturating
Mirror 53, third incidence surface 531, third light-emitting surface 532, the 4th lens 54, the 5th lens 55, the 6th lens 56, diffraction optics member
Part 60, diffraction exit facet 61, the diffraction plane of incidence 62, depth camera 400, projection window 401, acquisition window 402, image acquisition device
200, processor 300, electronic equipment 1000, shell 500.
Specific implementation mode
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein identical
Or similar label indicates same or similar element or element with the same or similar functions from beginning to end.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and is only used for explaining embodiments of the present invention, and should not be understood as to this hair
The limitation of bright embodiment.
In the description of embodiments of the present invention, it is to be understood that term "center", " longitudinal direction ", " transverse direction ", " length
Degree ", " width ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner",
The orientation or positional relationship of the instructions such as "outside", " clockwise ", " counterclockwise " is to be based on the orientation or positional relationship shown in the drawings, only
It is embodiments of the present invention and simplified description for ease of description, does not indicate or imply the indicated device or element is necessary
With specific orientation, with specific azimuth configuration and operation, therefore should not be understood as the limitation to embodiments of the present invention.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance or implicit
Indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or impliedly wrap
Include one or more feature.In the description of embodiments of the present invention, the meaning of " plurality " is two or two
More than, unless otherwise specifically defined.
In the description of embodiments of the present invention, it should be noted that unless otherwise clearly defined and limited, term
" installation ", " connection ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, can also be to be electrically connected or can mutually communicate；Can be directly connected to, can also lead to
It crosses intermediary to be indirectly connected with, can be the interaction relationship of the connection or two elements inside two elements.For ability
For the those of ordinary skill in domain, it can understand that above-mentioned term in embodiments of the present invention specific contains as the case may be
Justice.
Following disclosure provides many different embodiments or example is used for realizing embodiments of the present invention not
Same structure.In order to simplify the disclosure of embodiments of the present invention, hereinafter the component of specific examples and setting are described.When
So, they are merely examples, and is not intended to limit the present invention.In addition, embodiments of the present invention can be in different examples
Repeat reference numerals and/or reference letter in son, this repetition are for purposes of simplicity and clarity, itself not indicate to be begged for
By the relationship between various embodiments and/or setting.In addition, the various specific techniques that embodiments of the present invention provide
With the example of material, but make those of ordinary skill in the art may realize that the application of other techniques and/or other materials
With.
Referring to Fig. 1, the structured light projector 100 of embodiment of the present invention includes board unit 10, lens barrel 20, protective cover
30, light source 40, collimating element 50 and diffraction optical element 60.
Board unit 10 includes the circuit board 12 of substrate 11 and carrying on the substrate 11.The material of substrate 11 can be modeling
Material, for example, polyethylene terephthalate (Polyethylene Glycol Terephthalate, PET), poly- methyl-prop
E pioic acid methyl ester (Polymethyl Methacrylate, PMMA), makrolon (Polycarbonate, PC), polyimides
Any one or more in (Polyimide, PI).In this way, the lighter weight of substrate 11 and have enough support strengths.Electricity
Road plate 12 can be hardboard, soft board or Rigid Flex.Via 121 is offered on circuit board 12.Light source 40 is solid by via 121
It is fixed to be electrically connected on the substrate 11 and with circuit board 12.Heat emission hole 111,12 work of light source 40 or circuit board can be offered on substrate 11
The heat for making to generate can be shed by heat emission hole 111, heat-conducting glue can also be filled in heat emission hole 111, to further increase substrate
The heat dissipation performance of component 10.
Lens barrel 20 is arranged on board unit 10 and host cavity 21 is collectively formed with board unit 10.Light source 40, collimation member
Part 50 and diffraction optical element 60 are housed in host cavity 21.Collimating element 50 is successively set on diffraction optical element 60
In the luminous light path of light source 40.Lens barrel 20 includes opposite top 22 and bottom 23.Lens barrel 20 is formed through top 22 and bottom
The through-hole 24 in portion 23.Bottom 23 is carried on board unit 10, can specifically be fixed on the circuit board 12 by glue.Lens barrel 20
Inner wall is extended with annular plummer 25 to the center of through-hole 24, and diffraction optical element 60 is carried on plummer 25.
Protective cover 30 is arranged on top 22, and protective cover 30 includes the resistance surface 31 opposite with substrate 11.Protective cover 30 and
Plummer 25 contradicts diffraction optical element 60 from the opposite both sides of diffraction optical element 60 respectively.Resistance surface 31 is protective cover 30
The inconsistent surface with diffraction optical element 60.Structured light projector 100 using protective cover 30 contradict diffraction optical element 60 with
So that diffraction optical element 60 is housed in host cavity 21, and prevents diffraction optical element 60 from falling off along light direction.
In some embodiments, protective cover 30 can be made of metal material, such as silver nanowire, metal silver wire, copper sheet
Deng.Protective cover 30 offers loophole 32.Loophole 32 is aligned with through-hole 24.Loophole 32 is for being emitted diffraction optical element 60
The laser pattern of projection.The pore size of loophole 32 be less than width or at least one of length of diffraction optical element 60 with
Diffraction optical element 60 is limited in host cavity 21.
In some embodiments, protective cover 30 can be made of translucent material, such as glass, polymethyl methacrylate
(Polymethyl Methacrylate, PMMA), makrolon (Polycarbonate, PC), polyimides (Polyimide,
PI) etc..Since the translucent materials such as glass, PMMA, PC and PI all have excellent light transmission, protective cover 30 can not have to open
If loophole 32.In this way, protective cover 30 can avoid diffraction optical element 60 while preventing diffraction optical element 60 from falling off
It is exposed in the outside of lens barrel 20, play the role of waterproof and dustproof to diffraction optical element 60.
Light source 40 is for emitting laser.Light source 40 is carried on the substrate 11 and is housed in via 121.Via 121 it is big
Small corresponding with the size of light source 40, i.e., the size of via 121 is more than the size of light source 40 or the size and light source of via 121
40 sizableness.
In the embodiment shown in fig. 1, light source 40 can be vertical cavity surface emitting laser (Vertical Cavity
Surface Emitting Laser, VCSEL).Specifically, VCSEL is a kind of new laser of vertical surface light extraction, i.e.,
The light emission direction and substrate transverse of VCSEL can relatively easily realize the integrated of high density two-dimensional array, realize that higher power is defeated
Go out, and since it compared to edge-emitting lasers possesses smaller volume, miniature electric member is integrated into easily facilitate
In device；The coupling efficiency of VCSEL and optical fiber is high simultaneously, without the beam shaping system of complex and expensive, and manufactures work
Skill is compatible with light emitting diode, greatly reduces production cost.
Certainly, light source 40 or edge-emitting laser (edge-emitting laser, EEL), more specifically divide
Cloth feedback laser (Distributed Feedback Laser, DFB).It is appreciated that the temperature drift of DFB is smaller, and cost
It is relatively low.
Incorporated by reference to Fig. 2, when light source 40 is vertical cavity surface emitting laser, light source 40 includes semiconductor substrate 43 and setting
44 array of light-emitting component on substrate 43,44 array of light-emitting component are fixed on by substrate 43 on board unit 10.Work as light source
40 be edge-emitting laser, at this point, light source 40 includes multiple DFB, multiple DFB forms 44 array of light-emitting component, i.e., each hair
Optical element 44 is in the form of a column, and an end face of the separate board unit 10 of light-emitting component 44 forms light-emitting surface 41, and laser is from light-emitting surface
41 send out, light-emitting surface 41 towards collimating element 50 and light-emitting surface 41 it is vertical with the collimation optical axis of collimating element 50.Below with light source
40 be to illustrate for vertical cavity surface emitting laser, and light source 40 is edge-emitting laser, the luminous member that multiple DFB are formed
The arrangement of 44 array of part on the substrate 11 is identical as array arrangement of the light-emitting component 44 on substrate 43.
Please continue to refer to Fig. 2, substrate 43 includes first area 432 and the second area 434 to connect with first area 432,
The density of the light-emitting component 44 of first area 432 is different from the density of light-emitting component 44 of second area 434.It so, it is possible to carry
The irrelevance for the case laser pattern that high structured light projector 100 is projected into object space obtains the laser figure to improve
The speed and precision of the depth image of case.
It should be pointed out that the irrelevance of laser pattern refers to the laser figure that the light beam that light-emitting component 44 emits generates
Case has higher uniqueness, which includes the uniqueness of shape, size, arrangement position of laser pattern etc..
Specifically, first area 432 is the region of the center of substrate 43, and second area 434 is the edge of substrate 43
The region of position.The density of the light-emitting component 44 of first area 432 can be more than the density of the light-emitting component 44 of second area 434
The case where (including the density of the light-emitting component 44 of second area 434 being zero)；Or the light-emitting component 44 of first area 432 is close
Density (including feelings that the density of the light-emitting component 44 of first area 432 be zero of the degree less than the light-emitting component 44 of second area 434
Condition).
Also referring to Fig. 2 and Fig. 3, in some embodiments, 44 array of light-emitting component can be in matrix distribution.Secondth area
The light-emitting component 44 in domain 434 is located at at least both sides of the light-emitting component 44 of first area 432.
Specifically, the light-emitting component 44 of second area 434 can be located at the arbitrary both sides of the light-emitting component 44 of first area 432
(as shown in Figure 2)；Or the light-emitting component 44 of second area 434 can be located at arbitrary the three of the light-emitting component 44 of first area 432
Side；Or the light-emitting component 44 of second area 434 can be located at four sides (as shown in Figure 3) of the light-emitting component 44 of first area 432.
Referring to Fig. 4, in some embodiments, 44 array of light-emitting component is distributed in a ring, can be in specifically circular ring shape,
Or side's annular.Light-emitting component 44 of the light-emitting component 44 of second area 434 around first area 432 is arranged.
Referring to Fig. 5, in some embodiments, first density of light-emitting component 44 is less than second in first area 432
Second density of light-emitting component 44 in region 434.Specifically, in the light-emitting component 44 and second area 434 in first area 432
Light-emitting component 44 can be respectively and be uniformly distributed, along first area 432 to the direction of second area 434, phase in first area 432
The distance between adjacent light-emitting component 44 is more than the distance between light-emitting component 44 adjacent in second area 434.
It is appreciated that when structured light projector 100 emits laser, since laser will produce diverging, structured light projector
The laser of 100 transmittings includes zero order beam and non-zero order light beam, wherein zero order beam is gathered in luminous for superposition after laser diverging
Locate the light beam of center, non-zero order light beam is the light beam transmitted to luminous place's surrounding after laser dissipates.When the light of zero order beam
When strong too strong, zero order beam can not be caused to go out through diffraction optical element 60 when being transferred to diffraction optical element 60 by complete diffraction
The intensity for the zero order beam penetrated is too strong, may endanger the eyes of user.In embodiments of the present invention, hair in first area 432
First density of optical element 44 is less than the second density of light-emitting component 44 in second area 434, it is possible to reduce converges in light path
Between position light, to reduce structured light projector 100 zero order beam light intensity.
Further, it referring to Fig. 6, the first density can be zero, in other words, is not provided with sending out in the intermediate region of substrate 43
Optical element 44, to further decrease the light intensity of the zero order beam of structured light projector 100.
Referring to Fig. 2, in some embodiments, the density of light-emitting component 44 is from first area 432 to the secondth area
Domain 434 gradually increases.Specifically, first area 432 includes multiple successively along first area 432 to the direction of second area 434
Subregion, such as the first subregion 4322, the second subregion 4324 etc..Second area 434 is along first area 432 to second area
434 direction includes multiple subregions, such as third subregion 4342, the 4th subregion 4344 etc. successively.Wherein, the first sub-district
The hair of the density of the light-emitting component 44 in domain 4322, the density of light-emitting component 44 of the second subregion 4324, third subregion 4342
The density of optical element 44, the density of light-emitting component 44 of the 4th subregion 4344 are sequentially increased, in other words the first subregion 4322
Unit area in 44 quantity of light-emitting component, the second subregion 4324 unit area in 44 quantity of light-emitting component, third sub-district
44 quantity of light-emitting component in the unit area in domain 4342, the 4th subregion 4344 unit area in 44 quantity of light-emitting component successively
Increase.
In some embodiments, 44 coverlet of light-emitting component of the light-emitting component 44 and second area 434 of first area 432
Solely to emit laser, the intensity of the laser of the transmitting of light-emitting component 44 of first area 432 is less than shining for second area 434 for driving
The intensity for the laser that element 44 emits.In this way, the intensity for the light for converging to light path centre position can be reduced, to reduce knot
The light intensity of the zero order beam of structure light projector 100.
Referring to Fig. 7, in some embodiments, the light-emitting area of the light-emitting component 44 of first area 432 is less than second
The light-emitting area of the light-emitting component 44 in region 434.So, it is possible to reduce the light for converging to light path centre position, to reduce
The light intensity of the zero order beam of structured light projector 100.
Referring to Fig. 1, collimating element 50 is used for the laser that collimated light source 40 emits.Collimating element 50 is fixed on lens barrel
On 20, plummer 25 is between collimating element 50 and diffraction optical element 60.Collimating element 50 includes one or more lens,
One or more lens are arranged in the luminous light path of light source 40, and lens are made of glass material.The lens of collimating element 50
It can be made of glass material, lens will produce temperature drift phenomenon when solving the problems, such as variation of ambient temperature；Alternatively, collimating element
50 lens are made of plastic material, so that cost is relatively low, is convenient for volume production.
Also referring to Fig. 1 and Fig. 8, in some embodiments, collimating element 50 can only include the first lens 51, and first
Lens 51 include the first incidence surface 511 and the first light-emitting surface 512 opposite to each other.First incidence surface 511 is that the first lens 51 lean on dipped beam
The surface in source 40, the first light-emitting surface 512 are the first lens 51 close to the surface of diffraction optical element 60.First incidence surface 511 is
Concave surface, the first light-emitting surface 512 are convex surface.The face type of first lens 51 can be aspherical, spherical surface, Fresnel surface or binary optical
Face.Diaphragm is arranged between light source 40 and the first lens 51, for providing constraints to light beam.
In some embodiments, collimating element 50 may include multiple lens, and multiple lens are coaxial to be successively set on light source
In 40 luminous light path.The face type of each lens can be any one in aspherical, spherical surface, Fresnel surface, binary optical face
Kind.
Such as：Also referring to Fig. 1 and Fig. 9, multiple lens may include the first lens 51 and the second lens 52.First lens
51 and second lens 52 coaxial be successively set in the luminous light path of light source 40.First lens 51 include the first incidence surface opposite to each other
511 and first light-emitting surface 512.First incidence surface 511 is the surface that the first lens 51 lean on close to sources 40, and the first light-emitting surface 512 is
First lens 51 are close to the surface of diffraction optical element 60.Second lens 52 include that opposite the second incidence surface 521 and second goes out
Smooth surface 522.Second incidence surface 521 is the surface that the second lens 52 lean on close to sources 40, and the second light-emitting surface 522 is that the second lens 52 lean on
The surface of nearly diffraction optical element 60.The vertex of first light-emitting surface 512 and the vertex of the second incidence surface 521 contradict, and first enters light
Face 511 is concave surface, and the second light-emitting surface 522 is convex surface.Diaphragm is arranged on the second incidence surface 521, makees for playing limitation to light beam
With.Further, the first light-emitting surface 512 and the second incidence surface 521 can be convex surface.In this way, convenient for the top of the first light-emitting surface 512
The vertex of point and the second incidence surface 521 contradicts.The radius of curvature of first light-emitting surface 512 is less than the curvature of the second incidence surface 521.
Also referring to Fig. 1 and Figure 10, multiple lens may also include the first lens 51, the second lens 52 and the third lens
53.First lens 51, the second lens 52 and the third lens 53 are coaxial is successively set in the luminous light path of light source 40.First thoroughly
Mirror 51 includes the first incidence surface 511 and the first light-emitting surface 512 opposite to each other.First incidence surface 511 is that the first lens 51 lean on close to sources
40 surface, the first light-emitting surface 512 are the first lens 51 close to the surface of diffraction optical element 60.Second lens 52 include opposite
The second incidence surface 521 and the second light-emitting surface 522.Second incidence surface 521 be the second lens 52 lean on close to sources 40 surface, second
Light-emitting surface 522 is the second lens 52 close to the surface of diffraction optical element 60.The third lens 53 include opposite third incidence surface
531 and third light-emitting surface 532.Third incidence surface 531 is the surface that the third lens 53 lean on close to sources 40, and third light-emitting surface 532 is
The third lens 53 are close to the surface of diffraction optical element 60.Third incidence surface 531 is concave surface, and third light-emitting surface 532 is convex surface.Light
Door screen is arranged on third light-emitting surface 532, for providing constraints to light beam.Further, the first incidence surface 511 can be convex surface,
First light-emitting surface 512 is concave surface, and the second incidence surface 521 is concave surface, and the second light-emitting surface 522 is concave surface.
In some embodiments, collimating element 50 includes multiple lens.Multiple lens are successively set on the hair of light source 40
In light light path, the light shaft offset of the optical axises of at least one lens relative to other lenses.At this point, the structure of lens barrel 20 can be in one section
Or multi-segment structure, per segment structure for installing corresponding lens.
Such as：Also referring to Figure 11 to Figure 15, collimating element 50 includes that the first lens 51, the second lens 52 and third are saturating
Mirror 53.First lens 51, the second lens 52 and the third lens 53 are successively set in the luminous light path of light source 40.Second lens 52
Light shaft offset of the optical axis relative to the first lens 51, the optical axis of the first lens 51 is with the optical axis coincidence of the third lens 53 (as schemed
Shown in 11), further, the optical axis of the second lens 52 can be parallel with the optical axis of the first lens 51, at this point, the structure of lens barrel 20 can
In two-stage structure, the first segment structure 26 is for installing the first lens 51 and the second lens 52, and the second segment structure 27 is for installation the
Three lens 53,27 ramp interface of the first segment structure 26 and the second segment structure, the second lens 52 are mounted on the first segment structure 26 and the
The joint of two segment structures 27, in this way, the structure of multiple lens forming bents is conducive to increase light path, to reduce structure light
The inner wall of the whole height of the projector 100, the first segment structure 26 and the second segment structure 27 is coated with reflectance coating, and reflectance coating is used
In reflection light, so that the light that light source 40 emits can pass through the first incidence surface 511, the first light-emitting surface 512, second successively
Incidence surface 521, the second light-emitting surface 522, third incidence surface 531 and third light-emitting surface 532；Certainly, in other embodiment
In, the first segment structure 26 and the second segment structure 27 or the reflecting element independently of lens barrel 20, reflecting element are arranged in lens barrel
On 20, reflecting element is prism or face mirror etc., and reflecting element is for reflection light to change the direction of light path；Alternatively, first is saturating
Light shaft offset of the optical axis of mirror 51 relative to the second lens 52, the optical axis coincidence of the optical axis and the third lens 53 of the second lens 52
(as shown in figure 12), further, the optical axis of the first lens 51 can be parallel with the optical axis of the second lens 52；Alternatively, the third lens
The optical axis coincidence of light shaft offset of 53 optical axis relative to the first lens 51, the optical axis of the first lens 51 and the second lens 52 is (such as
Shown in Figure 13), further, the optical axis of the third lens 53 can be parallel with the optical axis of the first lens 51；Alternatively, the second lens 52
Light shaft offset of the optical axis relative to the first lens 51, the light shaft offset of the optical axises of the third lens 53 relative to the first lens 51,
The optical axis of two lens 52 and the optical axis of the third lens 53 are located at the homonymy (as shown in figure 14) of the optical axis of the first lens 51, further
The optical axis on ground, the first lens 51 can be parallel with the optical axis of the second lens 52, the light of the optical axis and the third lens 53 of the first lens 51
Axis is parallel, and the optical axis of the second lens 52 is parallel with the optical axis of the third lens 53；Alternatively, the optical axis of the second lens 52 is relative to first
The light shaft offset of lens 51, the light shaft offset of the optical axises of the third lens 53 relative to the first lens 51, the optical axis of the second lens 52
It is located at the heteropleural (as shown in figure 15) of the optical axis of the first lens 51, further, the first lens 51 with the optical axis of the third lens 53
Optical axis can be parallel with the optical axis of the second lens 52, the optical axis of the first lens 51 is parallel with the optical axis of the third lens 53, second thoroughly
The optical axis of mirror 52 is parallel with the optical axis of the third lens 53.
Preferably, light shaft offset of the optical axis of the second lens 52 relative to the first lens 51, the optical axis phase of the third lens 53
For the light shaft offset of the first lens 51, the optical axis of the second lens 52 and the optical axis of the third lens 53 are located at the light of the first lens 51
The heteropleural of axis.In this way, the structure of multiple lens forming bents is conducive to increase light path, increase focal length, reduces project structured light
The height of device 100.Certainly, collimating element 50 can also include more lens, for example, please referring to Fig.1 6, collimating element 50 wraps
Include the first lens 51, the second lens 52, the third lens 53, the 4th lens 54, the 5th lens 55 and the 6th lens 56.First thoroughly
Mirror 51, the second lens 52, the third lens 53, the 4th lens 54, the 5th lens 55 and the 6th lens 56 are successively set on light source 40
Luminous light path on.Light shaft offset of the optical axis of second lens 52 relative to the first lens 51, the optical axis of the third lens 53 are opposite
In the light shaft offset of the first lens 51, the optical axis of the second lens 52 and the optical axis of the third lens 53 are located at the optical axis of the first lens 51
Heteropleural, the optical axis coincidence of the optical axis of the 4th lens 54 and the second lens 52, the optical axises of the 5th lens 55 and the third lens 53
Optical axis coincidence, the optical axis coincidence of the optical axis of the 6th lens 56 and the first lens 51.
It should be pointed out that in the structured light projector 100 shown in Figure 12 to Figure 16, structure and Figure 11 institutes of lens barrel 20
The structure of the lens barrel 20 shown is same or like, and the structure of lens barrel 20 can be in one or more snippets structure, and details are not described herein.
In some embodiments, collimating element 50 includes multiple lens, and the optical center of at least two lens is located at and first
On the vertical same plane in direction, first direction is by light source 40 to the direction of diffraction optical element 60.
Such as：Also referring to Figure 17 to Figure 19, collimating element 50 includes that the first lens 51, the second lens 52 and third are saturating
Mirror 53.The optical center of the optical center of first lens 51 and the second lens 52 is in the same plane (as shown in figure 17), the first lens 51
Optical axis and the second lens 52 optical axis can be located at the third lens 53 optical axis heteropleural；Alternatively, the optical center of the second lens 52 with
The optical center of the third lens 53 is in the same plane (as shown in figure 18), the optical axis of the optical axis and the third lens 53 of the second lens 52
The heteropleural of the optical axis of the first lens 51 can be located at；Alternatively, the optical center of the first lens 51 and the optical center of the third lens 53 are positioned at same
In plane；Alternatively, the optical center of the optical center of the first lens 51, the second lens 52 and the optical center of the third lens 53 are respectively positioned on same put down
On face (as shown in figure 19).Further, the optical axis of the first lens 51 can be parallel with the optical axis of the second lens 52, the first lens 51
Optical axis it is parallel with the optical axis of the third lens 53, the optical axis of the second lens 52 is parallel with the optical axis of the third lens 53.
Referring to Fig. 1, diffraction optical element 60 is for the laser after the collimation of diffraction collimating element 50 to form laser
Pattern.Diffraction optical element 60 includes opposite diffraction exit facet 61 and the diffraction plane of incidence 62.Protective cover 30 can pass through glue
It is pasted onto on top 22, resistance surface 31 is contradicted with diffraction exit facet 61, and the diffraction plane of incidence 62 is contradicted with plummer 25, to diffraction
Optical element 60 will not fall off along light direction from host cavity 21.Diffraction optical element 60 can be made of glass material, also may be used
To be made of composite plastic (such as PET).
When assembling above-mentioned structured light projector 100, along light path from the bottom of lens barrel 20 23 successively into through-hole 24
It is put into collimating element 50 and installs the board unit 10 of light source 40.Light source 40 can be first mounted on board unit 10, then
The board unit 10 for being equipped with light source 40 is fixed with bottom 23 again.Against light path direction from top 22 by diffraction optical element
60 are put into through-hole 24 and are carried on plummer 25, then install protective cover 30 again, and make the diffraction of diffraction optical element 60
Exit facet 61 is contradicted with protective cover 30, and the diffraction plane of incidence 62 is contradicted with plummer 25.Structured light projector 100 is simple in structure, group
Dress is convenient.
Figure 20 is please referred to, the depth camera 400 of embodiment of the present invention includes the structure light throwing of any of the above-described embodiment
Emitter 100, image acquisition device 200 and processor 300.Image acquisition device 200 is for acquiring after diffraction optical element 50 to mesh
The laser pattern projected in mark space.Processor 300 is connect with structured light projector 100 and image acquisition device 200 respectively.Place
Reason device 300 is for handling laser pattern to obtain depth image.
Specifically, structured light projector 100 projects the laser figure projected into object space outward by projecting window 401
Case, image acquisition device 200 are acquired by acquisition window 402 by the modulated laser pattern of target object.Image acquisition device 200 can
For infrared camera, processor 300 is calculated in the laser pattern using image matching algorithm in each pixel and reference pattern
The deviation value of corresponding each pixel, the depth image of the laser pattern is further obtained further according to the deviation value.Wherein, image
Matching algorithm can be related (Digital Image Correlation, the DIC) algorithm of digital picture.It is of course also possible to use its
Its image matching algorithm replaces DIC algorithms.
In the depth camera 400 of embodiment of the present invention, the density and second area of the light-emitting component 44 of first area 432
The density of 434 light-emitting component 44 is different, can improve the case laser pattern that structured light projector 100 is projected into object space
Irrelevance, to improve obtain the laser pattern depth image speed and precision.
Figure 21 is please referred to, the electronic equipment 1000 of embodiment of the present invention includes the depth of shell 500 and the above embodiment
Spend camera 400.The setting of depth camera 400 exposes in shell 500 and from shell 500 to obtain depth image.Electronic equipment
1000 include but not limited to for mobile phone, tablet computer, laptop, Intelligent bracelet, smartwatch, intelligent helmet, Brilliant Eyes
Mirror etc..Shell 500 can provide the protections such as dust-proof, waterproof, shatter-resistant to depth camera 400.
In the electronic equipment 1000 of embodiment of the present invention, density and the secondth area of the light-emitting component 44 of first area 432
The density of the light-emitting component 44 in domain 434 is different, can improve the case laser figure that structured light projector 100 is projected into object space
The irrelevance of case, to improve the speed and precision of the depth image for obtaining the laser pattern.
In the description of this specification, reference term " embodiment ", " some embodiments ", " schematically implementation
The description of mode ", " example ", " specific example " or " some examples " etc. means the tool described in conjunction with the embodiment or example
Body characteristics, structure, material or feature are contained at least one embodiment or example of the present invention.In the present specification,
Schematic expression of the above terms are not necessarily referring to identical embodiment or example.Moreover, the specific features of description, knot
Structure, material or feature can be combined in any suitable manner in any one or more embodiments or example.
Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiment is
Illustratively, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be right
The above embodiment is changed, changes, replacing and modification.
Claims (10)
1. a kind of structured light projector, which is characterized in that including：
Light source, the light source include the light-emitting component battle array of substrate and setting over the substrate for emitting laser, the light source
Row, the substrate include first area and the second area that connects with the first area, and the described of the first area shines
The density of element is different from the density of the light-emitting component of the second area；
Collimating element, the collimating element is for collimating the laser；And
Diffraction optical element, the diffraction optical element is for the laser after collimating element collimation described in diffraction to form laser figure
Case.
2. structured light projector according to claim 1, which is characterized in that the light-emitting component in the first area
First density is less than the second density of the light-emitting component in the second area.
3. structured light projector according to claim 2, which is characterized in that first density is zero.
4. structured light projector according to claim 1, which is characterized in that the density of the light-emitting component is by described first
Region gradually increases to the second area.
5. structured light projector according to claim 1, which is characterized in that the light-emitting device array is in matrix distribution,
The light-emitting component of the second area is located at at least both sides of the light-emitting component of the first area.
6. structured light projector according to claim 1, which is characterized in that the light-emitting device array is distributed in a ring,
The light-emitting component of the light-emitting component of the second area around the first area is arranged.
7. structured light projector according to claim 1, which is characterized in that the light-emitting component of the first area and
The light-emitting component of the second area is driven separately to emit laser, the light-emitting component transmitting of the first area
Laser intensity be less than the second area the light-emitting component emit laser intensity.
8. structured light projector according to claim 1, which is characterized in that the light-emitting component of the first area
Light-emitting area is less than the light-emitting area of the light-emitting component of the second area.
9. a kind of depth camera, which is characterized in that including：
Structured light projector described in claim 1-8 any one；
Image acquisition device, described image collector be used to acquire projected into object space after the diffraction optical element it is sharp
Light pattern；With
The processor being connect respectively with the structured light projector and described image collector, the processor is for handling institute
Laser pattern is stated to obtain depth image.
10. a kind of electronic equipment, which is characterized in that including：
Shell；And
Depth camera described in claim 9, the depth camera are arranged in the shell and are exposed from the shell to obtain
Take depth image.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810200423.6A CN108490628B (en) | 2018-03-12 | 2018-03-12 | Structured light projector, depth camera and electronic device |
| PCT/CN2019/075378 WO2019174434A1 (en) | 2018-03-12 | 2019-02-18 | Structured light projector, depth camera, and electronic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810200423.6A CN108490628B (en) | 2018-03-12 | 2018-03-12 | Structured light projector, depth camera and electronic device |
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| Publication Number | Publication Date |
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| CN108490628A true CN108490628A (en) | 2018-09-04 |
| CN108490628B CN108490628B (en) | 2020-01-10 |
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| WO (1) | WO2019174434A1 (en) |
Cited By (4)
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| CN109120837A (en) * | 2018-10-31 | 2019-01-01 | Oppo广东移动通信有限公司 | Image acquiring method, image acquiring device, structure optical assembly and electronic device |
| WO2020103166A1 (en) * | 2018-11-24 | 2020-05-28 | 深圳阜时科技有限公司 | Light source structure, optical projection module and sensing device and apparatus |
| WO2020103165A1 (en) * | 2018-11-24 | 2020-05-28 | 深圳阜时科技有限公司 | Light source structure, optical projection module, sensing apparatus, and device |
| CN111246073A (en) * | 2020-03-23 | 2020-06-05 | 维沃移动通信有限公司 | Imaging device, method and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114727089A (en) * | 2022-02-28 | 2022-07-08 | 深圳博升光电科技有限公司 | Structured light system, electronic equipment with structured light system and control method |
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| CN106568396A (en) * | 2016-10-26 | 2017-04-19 | 深圳奥比中光科技有限公司 | Laser projector and depth camera thereof |
| CN106997603B (en) * | 2017-05-19 | 2020-04-17 | 深圳奥比中光科技有限公司 | Depth camera based on VCSEL array light source |
| CN107490930B (en) * | 2017-09-01 | 2020-12-18 | 深圳奥比中光科技有限公司 | Laser projection device with suppression of zero-order diffraction |
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| CN103097805A (en) * | 2010-09-10 | 2013-05-08 | 皇家飞利浦电子股份有限公司 | Arrangement for spot illumination |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109120837A (en) * | 2018-10-31 | 2019-01-01 | Oppo广东移动通信有限公司 | Image acquiring method, image acquiring device, structure optical assembly and electronic device |
| CN109120837B (en) * | 2018-10-31 | 2020-05-01 | Oppo广东移动通信有限公司 | Image acquisition method, image acquisition device, structured light assembly and electronic device |
| WO2020103166A1 (en) * | 2018-11-24 | 2020-05-28 | 深圳阜时科技有限公司 | Light source structure, optical projection module and sensing device and apparatus |
| WO2020103165A1 (en) * | 2018-11-24 | 2020-05-28 | 深圳阜时科技有限公司 | Light source structure, optical projection module, sensing apparatus, and device |
| CN111246073A (en) * | 2020-03-23 | 2020-06-05 | 维沃移动通信有限公司 | Imaging device, method and electronic equipment |
| CN111246073B (en) * | 2020-03-23 | 2022-03-25 | 维沃移动通信有限公司 | Imaging device, method and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108490628B (en) | 2020-01-10 |
| WO2019174434A1 (en) | 2019-09-19 |
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