CN108761827A - A kind of structured light projecting device and depth camera - Google Patents
A kind of structured light projecting device and depth camera Download PDFInfo
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- CN108761827A CN108761827A CN201810975944.9A CN201810975944A CN108761827A CN 108761827 A CN108761827 A CN 108761827A CN 201810975944 A CN201810975944 A CN 201810975944A CN 108761827 A CN108761827 A CN 108761827A
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Classifications
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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
Abstract
The present invention relates to optical fields, and in particular to a kind of structured light projecting device.The structured light projecting device includes：Light source emits the light beam with two-dimentional regular pattern；Lens receive and converge the light beam；Diffraction element, includes at least two independent diffraction functional areas, and the diffraction specification of all or part of independent diffraction functional area differs；Wherein, the light beam projects the diffraction image with corresponding diffraction specification by independent diffraction functional area, also, the diffraction image synthesizes the projected image with two-dimentional irregular pattern in object space.The invention further relates to depth cameras.The present invention solves low-power light source and realizes projection high density patterns, while standard arrangement light source can realize diffraction high-density random arrangement speckle by designing a kind of structured light projecting device.
Description
Technical field
The present invention relates to optical fields, and in particular to a kind of structured light projecting device and depth camera.
Background technology
It is used as with reference to image (encoded light source), by project structured light to object by projecting a pre-designed pattern
Surface reuses video camera and receives the structured light patterns of body surface reflection, in this way, two images are equally obtained, a width
It is the reference picture being pre-designed, in addition a width is the structured light patterns for the body surface reflection that camera obtains, and is schemed due to receiving
Case must deform because of the solid type shape of object, thus can by position of the pattern on video camera and deformation degree come
Calculate the spatial information of body surface.Common method of structured light is still the depth gauge that part uses principle of triangulation
It calculates.
Further, reference picture does not obtain, and by the pattern specially designed, therefore characteristic point is known
, and be easier to extract from test image.Structure light uses trigonometric parallax ranging, baseline (light source and camera lens optical center away from
From) longer precision is higher.
In the projection lens of existing depth projection, there are several schemes, 1, two-dimentional irregular pattern is set at light source
Light-emitting component；2, using two DOE eyeglasses, one for the light source pattern of regular array to be converted to irregular pattern, one
For being replicated to pattern.
But for said program, have disadvantage, such as in scheme one, light source needs particularly customized, increase cost,
Complicated using two DOE eyeglasses for scheme two, installation is inconvenient.
Invention content
The technical problem to be solved in the present invention is, for the drawbacks described above of the prior art, provides a kind of structured light projection
Device solves of high cost, the complex structure and other problems of depth projection camera lens.
The technical problem to be solved in the present invention is, for the drawbacks described above of the prior art, provides a kind of depth camera, solution
Certainly depth camera is of high cost, complex structure and other problems.
The technical solution adopted by the present invention to solve the technical problems is：A kind of structured light projecting device, feature are provided
It is, the structured light projecting device includes：
Light source emits the light beam with two-dimentional regular pattern；
Lens receive and converge the light beam；
Diffraction element includes at least two independent diffraction functional areas, all or part of independent diffraction functional area
Diffraction specification differ；Wherein, the light beam projects spreading out with corresponding diffraction specification by independent diffraction functional area
Image is penetrated, also, the diffraction image synthesizes the projected image with two-dimentional irregular pattern in object space.
Wherein, preferred version is：At least two independent diffraction functional area is in two-dimensional space, and it is described extremely
The perspective view of few two independent diffraction functional areas is in overlap condition, the state that partly overlaps or splicing state.
Wherein, preferred version is：The diffraction element further includes semiconductor substrate, the independent diffraction functional area packet
Include the etch areas of setting on a semiconductor substrate.
Wherein, preferred version is：The diffraction element further includes a transparent substrate, the independent diffraction functional area institute structure
At semiconductor structure fitting on a semiconductor substrate.
Wherein, preferred version is：The material of the transparent substrate is in semiconductor material, glass material and plastic material
It is a kind of.
Wherein, preferred version is：The light source includes including at least two luminous sub-light sources, and the luminous sub-light source is matched
A lens are set, alternatively, at least two luminous sub-light sources constitute a luminous sub-light source group, and the luminous sub-light source group configures
One lens.
Wherein, preferred version is：The lens configure an independent diffraction functional area, alternatively, at least two lens
A lens group is constituted, and the lens group configures an independent diffraction functional area, alternatively, the lens configure and multiple independently spread out
Penetrate functional area.
Wherein, preferred version is：The structured light projecting device further includes fixed shell, the light source, lens and diffraction
Element is arranged on fixed shell；And the material of the fixed shell includes in glass, ceramics, graphite, metal and plastics
It is one or more.
The technical solution adopted by the present invention to solve the technical problems is：A kind of structured light projecting device, the knot are provided
Structure optical projection device includes：
Light source emits the light beam with two-dimentional regular pattern；
Lens receive and converge the light beam；
Diffraction element, including an independent diffraction functional area；Wherein, the light beam is projected by independent diffraction functional area
The diffraction image of corresponding diffraction specification is provided, and forms the projected image with two-dimentional irregular pattern in object space.
The technical solution adopted by the present invention to solve the technical problems is：A kind of depth camera, the depth camera are provided
Including：Structured light projecting device, for projected image of the projection with two-dimentional irregular pattern into object space；Image Acquisition
Device, for acquiring the real image in object space；Processor receives the real image acquired by described image harvester
And generate the depth image of the object space；Wherein, it is calculated between the projected image and real image using matching algorithm
Deviation value, the depth image is calculated according to the deviation value.
The beneficial effects of the present invention are, compared with prior art, the present invention by designing a kind of structured light projecting device,
Light beam projects the diffraction image with corresponding diffraction specification by independent diffraction functional area, also, the diffraction image exists
Synthesis has the projected image of two-dimentional irregular pattern in object space, solves low-power light source and realizes projection high density patterns,
Standard arrangement light source can realize diffraction high-density random arrangement speckle simultaneously；Further, simple in structure, manufacturing cost is low, just
It is promoted in large-scale production.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing：
Fig. 1 is the structural schematic diagram of structure of the invention optical projection device；
Fig. 2 is the structural schematic diagram of diffraction element of the present invention；
Fig. 3 is that the present invention is based on the structural schematic diagrams of the structured light projecting device of multiple luminous sub-light sources；
Fig. 4 is the structural schematic diagram of diffraction element embodiment one of the present invention；
Fig. 5 is the structural schematic diagram of diffraction element embodiment two of the present invention；
Fig. 6 is that the present invention is based on the structural schematic diagrams of the structured light projecting device of fixed shell；
Fig. 7 is the structural schematic diagram of depth camera of the present invention.
Specific implementation mode
In conjunction with attached drawing, elaborate to presently preferred embodiments of the present invention.
As shown in Figure 1 to Figure 3, the present invention provides a kind of preferred embodiment of structured light projecting device.
The structured light projecting device includes light source 110, lens 120 and diffraction element 130, the light source 110, lens
120 and diffraction element 130 set gradually, specifically, the transmitting of the light source 110 has the light beam 101 of two-dimentional regular pattern, described
Lens 120 include at least two independent diffraction functional areas for receiving and converging the light beam 101, the diffraction element 130
131, the diffraction specification of all or part of independent diffraction functional area 131 differs, i.e., the described independent diffraction functional area
131 diffraction specification is different or the diffraction specification of the independent diffraction functional area 131 may have part identical, still
It will not be all identical.
Further, the light beam 101 projects spreading out with corresponding diffraction specification by independent diffraction functional area 131
Image 102 is penetrated, also, the diffraction image 102 synthesizes the projected image with two-dimentional irregular pattern in object space
103.Wherein, two-dimentional regular pattern is the two-dimensional pattern of array arrangement, and in addition to two-dimentional regular pattern, other patterns are believed that two
Tie up irregular pattern.
First, the projected image 103 projected by diffraction element 130 can be the two dimension that constitutes of full frame random point not
Regular pattern；Secondly, the projected image 103 projected by diffraction element 130 can also be divided into multiple array arrangements or other
The view field of regular arrangement, each view field can be considered the two-dimentional irregular pattern that region-wide random point is constituted.Further
Ground, each independent diffraction functional area 131 can be projected out a view field, or be projected out several array arrangements or other
The view field of regular arrangement, also, the view field of multiple independent diffraction functional areas 131 is synthesized into tool in object space
There is the projected image 103 of two-dimentional irregular pattern.
In the present embodiment, detailed process is：First, the light beam 101 that light source 110 emits is with two-dimentional regular pattern
Multiple light beams, it is however generally that, multiple light beams that there are multiple light beam preferred arrays of two-dimentional regular pattern to arrange, also,
The light beam 101 that light source 110 emits is incident to after the convergence of corresponding lens 120 on diffraction element 130；Secondly, diffraction element
130 include two or more independent diffraction functional areas 131, and each independent diffraction functional area 131 is to be advised with specific diffraction
The semiconductor regions of lattice, i.e., independent diffraction functional area 131 of the described light beam 101 by different specific diffraction specifications will produce not
Same diffraction image 102, also, multiple diffraction images 102 synthesize the projection with two-dimentional irregular pattern in object space
Image 103.
Preferably, different light leads to the pattern that independent 131 diffraction of diffraction functional area provides different diffraction rules, and
All diffraction images 102 are projected in object space, at least two independent diffraction functional area 131 is in a two dimension
In space, and the perspective view of at least two independent diffraction functional area 131 be in overlap condition, the state that partly overlaps or
Splicing state forms two-dimentional irregular pattern.Wherein, it is flat to be in a two dimension for described at least two independent diffraction functional areas 131
In face, alternatively, at least two independent diffraction functional area 131 is in a two-dimensional space, and different independent diffraction work(
There may be the differences with upper and lower position in energy region 131.
And there is the mode of the projected image 103 of two-dimentional irregular pattern to be for the synthesis in object space：
The effect of diffraction element 130 can regard replicated, juxtaposition the mode by a limited number of light beams as and generate
More, density bigger, the higher structured light patterns of randomness.DOE structures may be used, or grating.DOE structures
That is diffraction optical element (Diffractive Optical Elements, DOE), passes through polylith DOE optical textures and semiconductor
Substrate 211 is spliced to form a composite structure, realizes the integration setting of diffraction element 130.
About specific diffraction specification, specifically, the two-dimentional regular pattern of regular array is subjected to different specific diffraction specifications
Recombination, or carry out in same independent diffraction functional area 131 recombination of the two or more specific diffraction specifications of difference, example
Such as carry out splicing recombination, superposition recombination, rotation recombination, dislocation recombination.And it is carried out by independent diffraction functional area 131
Diffraction carries out while realizing " two-dimentional irregular pattern " and " diffraction ".Specific light source 110 need not be used, and is not required to
Complicated optical system (optical mirror slip) is set, and the optical mirror slip can be arranged far from light source 110, light source is reduced
Influence of 110 thermal energy to optical mirror slip realizes compact design, and improve whole to realize the miniaturization of structured light projecting device
Stability, the anti-interference of body structure improve product fine rate to reduce production cost.
Preferably, light source 110 can be that visible light, black light be for example infrared, the laser light sources 110 such as ultraviolet.For example, by using
VCSEL, complete entitled vertical cavity surface emitting laser (Vertical Cavity Surface Emitting Laser), with arsenic
Developed based on gallium semi-conducting material, be different from LED (light emitting diode) and LD (Laser Diode, laser diode) etc. its
His light source 110, it is big face to have small, round output facula, single longitudinal mode output, small, cheap, easy of integration threshold current
The advantages that product array, the fields such as extensive use and optic communication, light network, optical storage.
As shown in Figure 4 and Figure 5, the present invention provides the preferred embodiment of diffraction element.
The diffraction element 130 further includes semiconductor substrate 211, and the independent diffraction functional area 131 is arranged at
Semiconductor substrate 211, further, independent 131 array of diffraction functional area are arranged on semiconductor substrate 211.Its
In, semiconductor (semiconductor) refers under room temperature electric conductivity between conductor (conductor) and insulator
(insulator) material between.By the way that independent diffraction functional area 131 is arranged at semiconductor substrate 211, diffraction is realized
The integrative design of element 130 is convenient for the production and installation of diffraction element 130.
Meanwhile diffraction element 130 can be provided with multiple semiconductor substrates 211, be respectively provided on each semiconductor substrate 211
Multiple semiconductor substrates 211 are merged and are formed new diffraction element 130, realize extension by multiple independent diffraction functional areas 131
Diffraction element 130, and the production and processing convenient for diffraction element 130.
Preferably, the independent diffraction functional area 131 is the etch areas 212 on semiconductor substrate 211, realizes one
Formula structure.I.e. the independent diffraction functional area 131 is arranged by way of etching on semiconductor substrate 211, is formed independent
Diffraction functional area 131.Wherein, etch, English is Etch, it is semiconductor fabrication process, microelectronics IC manufacturing process and
A kind of considerable step in minute manufacturing technique.It is one kind of graphical (pattern) processing being associated with photoetching
Main technique.The understanding of so-called etching, actually narrow sense is exactly photoetching corrosion, first passes through photoetching and carries out photoresist at photolithographic exposure
Then reason realizes that the required part removed is fallen in corrosion treatment otherwise.With the development of micro manufacturing technique, broadly come
Say, be etched by solution, reactive ion or other machinery mode come remove, a kind of general designation of material removal, become it is micro- plus
A kind of pervasive call of work manufacture.
And the independent diffraction functional area 131 can be DOE optical textures 213, and DOE optical textures 213 are all provided with
It sets on semiconductor substrate 211.Wherein, diffraction optical element (Diffractive Optical Elements, DOE) is photoetching
A series of movable eyeglasses in machine, for generating the required light source of photoetching.
Certainly, semiconductor substrate 211 or other trnaslucent materials.For example, glass substrate and transparent plastic substrate.
As shown in figure 3, the present invention provides the preferred embodiment of light source.
The light source 110 includes including at least two luminous sub-light sources 110, and the luminous sub-light source 110 configures one thoroughly
Mirror 120, alternatively, at least two luminous sub-light sources 110 constitute 110 groups of a luminous sub-light source, and 110 groups of the luminous sub-light source
Configure a lens 120.
110 emitting head of one or more light sources or laser beam emitting head, or hair are both provided on each luminous sub-light source 110
Light LED or other light-emitting components, above-mentioned light-emitting component constitute two-dimentional regular pattern on each luminous sub-light source 110.It is corresponding
, the preferably array lens 120 of lens 120, the light beam 101 for being sent out each luminous sub-light source 110 by array lens 120, into
Row converge operation.
And the lens 120 configure an independent diffraction functional area 131, alternatively, 120 structure of at least two lens
At 120 groups of a lens, and 120 groups of configurations of the lens, one independent diffraction functional area 131.
As shown in fig. 6, the present invention provides the preferred embodiment of structured light projecting device.
The structured light projecting device further includes fixed shell 140, the light source 110, lens 120 and diffraction element 130
It is arranged on fixed shell 140；And the material of the fixed shell 140 includes glass, ceramics, graphite, metal and plastics
In it is one or more.
It is possible, firstly, to unified material is arranged in fixed shell 140, for example, by using the low glass of temperature diffusivity, ceramics, graphite
As the material of fixed shell 140, light source 110, lens 120 and diffraction element 130 are successively set on fixed shell 140,
Certainly, fixed shell 140 may include the structure members such as pedestal, stack shell, light-emitting window, light source 110, lens 120 and diffraction element
130 are arranged in corresponding structure member.And different materials can also be used as the material of fixed shell 140, i.e., it is solid
Different structure uses unlike material, such as stack shell that glass material, light-emitting window is used also to be adopted using ceramics, pedestal in fixed shell 140
With ceramics etc., and light source 110 is set on the base, and lens 120 are arranged on stack shell, and diffraction element 130 is arranged on light-emitting window,
The heat of light source 110 is isolated as far as possible, and prevents fixed shell 140 since heat generates deformation.
As shown in fig. 7, the present invention provides a kind of preferred embodiment of depth camera.
A kind of depth camera, which is characterized in that the depth camera includes structured light projecting device 310, image collector
Set 320 and processor 330, wherein
The structured light projecting device 310 is for projected image of the projection with two-dimentional irregular pattern into object space
103, such as the projected image 103 being projected in object space at projected picture 301, described image harvester 320 is used for
The real image in object space is acquired, the processor 330 receives the real image acquired by described image harvester 320
And generate the depth image of the object space；Further, the projected image and real image are calculated using matching algorithm
Between deviation value, the depth image is calculated according to the deviation value.
Certainly, processor is also connect with structured light projecting device, realizes the control of structured light projecting device.It is described above
Person, only preferred embodiment are not intended to limit the scope of the present invention, all according to scope of the present invention patent institute
The equivalent change or modification of work is all that the present invention is covered.
Claims (11)
1. a kind of structured light projecting device, which is characterized in that the structured light projecting device includes：
Light source emits the light beam with two-dimentional regular pattern；
Lens receive and converge the light beam；
Diffraction element, includes at least two independent diffraction functional areas, and all or part of independent diffraction functional area spreads out
Specification is penetrated to differ；
Wherein, the light beam projects the diffraction image with corresponding diffraction specification, also, institute by independent diffraction functional area
It states diffraction image and synthesizes the projected image with two-dimentional irregular pattern in object space.
2. structured light projecting device according to claim 1, it is characterised in that：At least two independent diffraction functional area
It is in two-dimensional space, and the perspective view of at least two independent diffraction functional area is in overlap condition, part weight
Overlapping state or splicing state.
3. structured light projecting device according to claim 1, it is characterised in that：The diffraction element further includes semiconductor
Substrate, the independent diffraction functional area include the etch areas of setting on a semiconductor substrate.
4. structured light projecting device according to claim 1, it is characterised in that：The diffraction element further includes a transparent base
Plate, the semiconductor structure fitting that the independent diffraction functional area is constituted is on a semiconductor substrate.
5. structured light projecting device according to claim 1, it is characterised in that：The material of the transparent substrate is semiconductor
One kind in material, glass material and plastic material.
6. structured light projecting device according to any one of claims 1 to 5, it is characterised in that：The independent diffraction functional areas
Domain array arrangement setting.
7. structured light projecting device according to claim 1, it is characterised in that：The light source includes at least two sons that shine
Light source, the luminous sub-light source configure a lens, alternatively, at least two luminous sub-light sources constitute a luminous sub-light source group,
And the luminous sub-light source group configures a lens.
8. structured light projecting device according to claim 1 or claim 7, it is characterised in that：The lens configure one and independently spread out
Functional area is penetrated, alternatively, at least two lens constitute a lens group, and the lens group configures an independent diffraction functional areas
Domain, alternatively, the lens configure multiple independent diffraction functional areas.
9. structured light projecting device according to claim 1, it is characterised in that：The structured light projecting device further includes solid
Fixed shell, the light source, lens and diffraction element are arranged on fixed shell；And the material of the fixed shell includes
It is one or more in glass, ceramics, graphite, metal and plastics.
10. a kind of structured light projecting device, which is characterized in that the structured light projecting device includes：
Light source emits the light beam with two-dimentional regular pattern；
Lens receive and converge the light beam；
Diffraction element, including an independent diffraction functional area；
Wherein, the light beam projects the diffraction image with corresponding diffraction specification by independent diffraction functional area, and in mesh
Mark the projected image for being formed in space and there is two-dimentional irregular pattern.
11. a kind of depth camera, which is characterized in that the depth camera includes：
Structured light projecting device as described in claims 1 to 10 is any for being projected into object space there is two dimension not advise
The then projected image of pattern；
Image collecting device, for acquiring the real image in object space；
Processor receives the real image acquired by described image harvester and the depth image for generating the object space；
Wherein, the deviation value between the projected image and real image is calculated using matching algorithm, according to the deviation value meter
Calculate the depth image.
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| CN109471270A (en) * | 2018-12-26 | 2019-03-15 | 宁波舜宇光电信息有限公司 | A kind of structured light projector, Depth Imaging device |
| CN110058424A (en) * | 2019-03-27 | 2019-07-26 | 努比亚技术有限公司 | A kind of laser diffraction apparatus, 3D device and terminal |
| 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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| CN209343054U (en) * | 2018-08-24 | 2019-09-03 | 昂红科技（深圳）有限公司 | A kind of structured light projecting device and depth camera |
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