CN109270699A - A kind of VCSEL laser speckle projector - Google Patents
A kind of VCSEL laser speckle projector Download PDFInfo
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- CN109270699A CN109270699A CN201811237763.2A CN201811237763A CN109270699A CN 109270699 A CN109270699 A CN 109270699A CN 201811237763 A CN201811237763 A CN 201811237763A CN 109270699 A CN109270699 A CN 109270699A
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- vcsel
- dot matrix
- laser speckle
- laser
- speckle projector
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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
-
- 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
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
- H01S5/00—Semiconductor lasers
- H01S5/40—Arrangement of two or more semiconductor lasers, not provided for in groups H01S5/02 - H01S5/30
- H01S5/42—Arrays of surface emitting lasers
- H01S5/423—Arrays of surface emitting lasers having a vertical cavity
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- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- Electromagnetism (AREA)
- Mechanical Optical Scanning Systems (AREA)
- Projection Apparatus (AREA)
Abstract
This disclosure relates to a kind of VCSEL laser speckle projector, including VCSEL dot matrix, collimating mirror, diffraction optical device DOE and microscope base, the laser speckle projector uses the large-sized VCSEL dot matrix of large area, by driving light emitting region shape and area come subregion or point-by-point control VCSEL dot matrix, it can be matched from different optical modules, to realize the quantity of projected speckle point, density and the controllable laser speckle coding pattern of field angle.
Description
Technical field
The disclosure belongs to optics and electronic technology field, in particular to a kind of VCSEL laser speckle projector.
Background technique
Structure light be it is a kind of based on active vision rebuild target optical technology, usually by the coding projector, receive camera,
Structured light decoding module composition, obtains depth information by laser triangulation.It compares with other extraction depth information equipment, such as swashs
Optar and sonar ranging device, structured light measurement system have potential advantages in terms of precision, price and speed, can be extensive
Restore for three-dimensional space measurement, depth detection and three-dimensional surface.
Active light source, generally infrared laser source employed in active vision depth perception technology based on structure light,
Such as vertical cavity surface emitting laser (VCSEL, Vertical-CavitySurface-Emitting Laser) and LD (Laser
Diode) laser source etc..Wherein, VCSEL has small the remote of the angle of divergence and circular symmetry, near field point compared with LD laser
Cloth greatly improves the coupling efficiency of itself and optical fiber, without the beam shaping system of complex and expensive, therefore in structure light master
Light source is all to use VCSEL mostly in dynamic visual depth perception technology.
However traditional VCSEL speckle projector first has to guarantee each to obtain preferable laser speckle coding pattern
The irrelevance of a point light source and the uniformity of projection speckle pattern, then Dot array must be random alignment；Its secondary guarantee
Project the contrast of laser speckle coding pattern and the field angle of the entire projector, Dot array must with fixed collimating mirror and
DOE is matched.
Summary of the invention
In consideration of it, present disclose provides a kind of VCSEL laser speckle projector, including VCSEL dot matrix, collimating mirror and diffraction
Optical device DOE, wherein the VCSEL dot matrix, includes control module and driving circuit, for generating multi beam in the form of dot matrix
Laser beam；The collimating mirror, for the multiple laser Shu Jinhang collimation processing to basis of formation coding pattern；The diffraction
Optical device DOE is replicated and is spliced for receiving the laser beam of collimated processing, and to the basic coding pattern, raw
At more speckle points, the laser speckle coding pattern at bigger visual angle.
Through the above technical solutions, firstly, although the VCSEL laser speckle projector has the VCSEL of stationary arrangement
Dot matrix, but all luminous points of mode drive control that point-by-point or subregion can be taken to light, generate the basic coding of different size
Pattern can match the optical module of different size in this way, project different laser speckle coding patterns, can be applied to different fields
It closes, becomes the universal VCSEL laser speckle projector.Secondly as the VCSEL laser speckle projector energy drive control
The density and quantity of the light emitting region of VCSEL dot matrix, then for same optical module, the VCSEL laser speckle projector can
Project intensity and the higher laser speckle coding pattern of contrast.Again, the VCSEL laser speckle projector, in VCSEL
During assembling AA (Auto-Adjust) with optical module, light emitting region can be with translation or around Z in X-Y axis direction
Axis rotates a certain angle, and is conducive to shorten the board time that the projector Dutch treatment is made, to reduce projector cost of manufacture.Most
Afterwards, the VCSEL laser speckle projector guarantees base by the size and location of the light emitting region of real-time control VCSEL dot matrix
Splicing gap of the plinth coding pattern through spliced speckle encoding pattern is uniform, overcomes VCSEL caused by temperature drift and optical module
Optical axis changes overlapping or segregation phenomenon of the caused speckle encoding pattern at splicing gap.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the VCSEL laser speckle projector provided in an embodiment of the present disclosure；
Fig. 2 is the controllable VCSEL point in light emitting region provided in an embodiment of the present disclosure (shape, area and density)
Battle array schematic diagram；
Fig. 3 (a) to Fig. 3 (b) is the structural representation of the VCSEL laser speckle projector in another embodiment of the disclosure
Figure.
Specific embodiment
The present invention is further described in detail with reference to the accompanying drawing.
In one embodiment, it discloses a kind of VCSEL laser speckle projector, including VCSEL dot matrix, collimating mirror and
Diffraction optical device DOE, wherein the VCSEL dot matrix, includes control module and driving circuit, for being generated in the form of dot matrix
Multiple laser beam；The collimating mirror, for the multiple laser Shu Jinhang collimation processing to basis of formation coding pattern；It is described
Diffraction optical device DOE is replicated and is spelled for receiving the laser beam of collimated processing, and to the basic coding pattern
It connects, generates the laser speckle coding pattern of more speckle points, bigger visual angle.
It in another embodiment, further include microscope base, for fixing the VCSEL dot matrix, collimating mirror and diffraction optics device
Part DOE.
In another embodiment, the VCSEL dot matrix is formed based on VCSEL light-emitting substrate, the VCSEL light-emitting substrate
Upper rule or irregular alignment have VCSEL light-emitting particles, and each VCSEL light-emitting particles correspond to beam of laser, pass through the VCSEL
The control module and driving circuit of dot matrix realize that all light-emitting particles are point-by-point or subregion is lighted.
In another embodiment, the collimating mirror be selected from single or multiple lens groups or microlens array with not
It is corresponded with region VCSEL dot matrix.
In another embodiment, the material of the collimating mirror is selected from all-plastic, glass modeling mixing or WLO (Wafer Level
Optical) the collimating element of wafer scale technique production.
In another embodiment, the collimating mirror synthesis is in the back side of the diffraction optical device DOE.
In another embodiment, the collimation processing refers to through collimating mirror, by the very big laser beam light of the angle of divergence
Become parallel, forms collimated light beam.
In another embodiment, referring to Fig. 1, it discloses a kind of VCSEL laser speckle projectors, including VCSEL point
Battle array 3, collimating mirror 2, diffraction optical device DOE1 and microscope base 4.Wherein, the VCSEL dot matrix is set to the laser speckle projection
The bottom of device, for generating multiple laser beam in the form of dot matrix；The collimating mirror 2 is set to the upper of the VCSEL dot matrix
The lower section square, diffraction optical device DOE1, carries out collimation processing for the laser beam to basis of formation coding pattern, by the angle of divergence
Very big laser beam becomes in parallel, and beam energy is more concentrated, to improve the contrast for projecting speckle pattern；The diffraction optics
Device DOE1 is located at the top of the laser speckle projector, for receiving the laser beam dot matrix after collimating, and to basic coding figure
Case is replicated and is spliced, and generates the laser speckle coding pattern at big visual angle, wherein the duplication of basic coding pattern and splicing side
Formula includes regularly arranged duplication, be staggered duplication；Diffraction optical device DOE can divide one layer, multilayer copy mode, such as two
Layer duplication first carries out 1 × k duplication, then carries out n × m duplication, the speckle encoding pattern after finally obtaining n × (m × k) duplication.Its
In, k, m, n are 1,2,3..... integer.Basic coding pattern is after splicing, in contrast, brightness, uniformity, distortion shape
Condition, splicing gap uniformity etc. are more consistent；The microscope base 4 is located at outermost end, for fixing the VCSEL dot matrix, collimating mirror 2
With diffraction optical device DOE1.Collimating mirror 2 can also be fitted to diffraction optical device to reduce the Z-direction size of the projector
The back side of DOE1, so that the basic coding pattern that light emitting source generates is after through diffraction optical device DOE1, so that it may be formed and be swashed
Light speckle encoding pattern.
In another embodiment, referring to fig. 2, it for the VCSEL dot matrix of the VCSEL laser speckle projector, can be
Formed based on a VCSEL light-emitting substrate or multiple VCSEL light-emitting substrates, on one or more of light-emitting substrates rule or
Random alignment has multiple VCSEL light-emitting particles, by driving circuit to the light-emitting particles arranged in light-emitting substrate X-Y axis direction
Constant current driving is carried out, a drive part light-emitting particles had both been can choose, and each particle can also have been lighted one by one.
Best match is capable of in size and different application scenarios of the control module according to the optical module detected, selection
Position, size and the density of Dot array, and notify driving circuit to carry out driving to corresponding light emitting region and show, and then can realize
The control of the luminous position of VCSEL dot matrix, the shape, light-emitting area and luminous density of shining.Drive control Dot array has institute
Needing the order of feature can also be assigned by ppu by standard interface.
If 301 indicate that the light emitting region of VCSEL dot matrix is single-point in Fig. 2, position can be selected in one among VCSEL dot matrix
Point can also be the point of surrounding, its luminous point position can STOCHASTIC CONTROL in a word；302 indicate that the light emitting region of VCSEL dot matrix is one-dimensional
Arrange dot matrix, can be it is transversely arranged can also longitudinal arrangement, and count it is also controllable；303,304,305,306 VCSEL is indicated
The light emitting region of dot matrix is two-dimensional arrangements dot matrix, wherein 303 show that light emitting region shape same area is different with 304,303 Hes
305 show that light emitting region area same shape is different, and 306 be 303 to show that light emitting region is removable by what translations were got.
It can be according to actual requirement, the density of the luminous point of drive control VCSEL dot matrix 3.When precision prescribed is relatively high, need
VCSEL laser projecting apparatus is wanted to project the biggish laser speckle coding pattern of density, the VCSEL dot matrix 3 of Fig. 2 is lighted in driving at this time
Whole points in middle dotted line frame；When precision prescribed is relatively low, then needs VCSEL laser projecting apparatus to project sparse laser and dissipate
Spot code pattern, the black solid dot in the VCSEL dot matrix 3 of Fig. 2 in dotted line frame is lighted in driving at this time.It is separator bar in figure, hollow and real
Heart point is only signal effect, illustrates that the present invention can freely control the shapes and sizes and density of light emitting region of VCSEL dot matrix,
It is actually not present in VCSEL dot matrix 3.
In another embodiment, referring to Fig. 3 (a) to Fig. 3 (b), it discloses a kind of VCSEL laser speckle projectors.
When VCSEL dot matrix 3 matches work with same optical module, the laser speckle coding pattern of different visual field sizes can be projected；
When VCSEL dot matrix 3 matches work from different optical modules, the laser speckle coding pattern of same field size can also be projected；
Furthermore the density that luminous point can also be controlled according to actual requirement, to substantially reduce the power consumption of the VCSEL laser speckle projector.Figure
3 (a) and Fig. 3 (b) respectively indicates large scale VCSEL dot matrix and optical module 1 and when optical module 2 carries out collocation work, passes through
It controls light emitting region area and shape can get the laser speckle coding pattern of same field size.Certainly for Fig. 3 (a) and figure
Two VCSEL laser speckle projectors in 3 (b) need to only change light emitting region size in respective VCSEL dot matrix and shine close
Degree, can also project the laser speckle coding pattern with different visual field different densities respectively.Optical module is increased in this way
Mutiple Choice also increases the flexibility that the projector uses.
In another embodiment, the VCSEL laser speckle projector also solves temperature drift other than the above advantage
Caused a series of problems.
Temperature drift is to influence a key factor of laser speckle projector performance.When the change of projector operating temperature, first
Lead to the wavelength shift for emitting laser, secondly optical system components are expanded with heat and contract with cold, such as lens thickness in a system,
Radius of curvature, eyeglass interval etc., these can all lead to the change of collimating mirror focal length, and the laser speckle of fixed light emitting region is thrown
Emitter, the angle of divergence is not well controlled after laser beam passes through collimating mirror, can make the speckle pattern finally projected in this way
Case splicing has overlapping or has gap, and speckle encoding pattern intensity is uneven, and contrast is lower.And the disclosure is described
The VCSEL laser speckle projector guarantees basic coding figure by the size and location of the light emitting region of real-time control VCSEL dot matrix
Splicing gap of the case through spliced speckle encoding pattern is uniform.
Temperature drift carrys out very big puzzlement to the packaging belt of each optical device of the laser speckle projector simultaneously.When the projector is in temperature
Optical module can be caused to finish the rising-heat contracting-cold of solidification glue after Auto-Adjust, collimating mirror with VCSEL during being raised and lowered
The rising-heat contracting-cold of microscope base, DOE attach after solidification glue rising-heat contracting-cold, collimating mirror irradiated by VCSEL after expand with heat and contract with cold.These are led
VCSEL optical centre has been caused to have occurred in temperature changing process with optical module (collimating mirror+DOE after attaching) optical centre
Offset.The current projector is coaxial in order to guarantee each optical element, this proposes glue type selecting, mode for dispensing glue and assembly technology
Very strict requirements have a step without coming as requested in this, and the projector produced may be exactly substandard product
Or scrap.And the VCSEL laser speckle projector of the disclosure, it only needs to change VCSEL dot matrix in real time in use
Position then can guarantee that VCSEL and optical module (collimating mirror+DOE after attaching) are coaxial.Each optics member is greatly reduced in this way
Matching requirements between part, thereby reduce cost of manufacture.
In conclusion the disclosure passes through light emitting region shape, area and the luminous dot density of drive control VCSEL dot matrix,
To realize the matching of VCSEL dot matrix from different optical modules, the laser specklegram with different visual fields and density is projected
Case；Each optical module caused by temperature drift is overcome simultaneously does not assemble a series of problems, such as difficult coaxially.
Although the VCSEL laser emitter in above-mentioned attached drawing or embodiment can also be applied to by taking infrared wavelength as an example
Uv and visible light wave band.Furthermore the light emitting region of VCSEL dot matrix only lists several shapes in the embodiment shown in fig. 1,
Light emitting region can also be other geometries in other embodiments, and corresponding optical module can also have multiple at this time, projection
Speckle encoding pattern types can be more out, but can be extended through this example.The above various embodiments is suitable for ultra-thin
Intelligent terminal, for example including smart phone, smart television, PAD and laptop.
Although embodiment of the present invention is described in conjunction with attached drawing above, the invention is not limited to above-mentioned
Specific embodiments and applications field, above-mentioned specific embodiment are only schematical, directiveness, rather than restricted
's.Those skilled in the art are under the enlightenment of this specification and in the range for not departing from the claims in the present invention and being protected
In the case where, a variety of forms can also be made, these belong to the column of protection of the invention.
Claims (10)
1. a kind of VCSEL laser speckle projector, including VCSEL dot matrix, collimating mirror and diffraction optical device DOE,
The wherein VCSEL dot matrix includes control module and driving circuit, for generating multiple laser beam in the form of dot matrix；
The collimating mirror, for the multiple laser Shu Jinhang collimation processing to basis of formation coding pattern；
The diffraction optical device DOE is answered for receiving the laser beam of collimated processing, and to the basic coding pattern
System and splicing, generate the laser speckle coding pattern of more speckle points, bigger visual angle.
2. the VCSEL laser speckle projector according to claim 1, it is preferred that further include microscope base, described in fixed
VCSEL dot matrix, collimating mirror and diffraction optical device DOE.
3. the VCSEL laser speckle projector according to claim 1, wherein the VCSEL dot matrix is shone based on VCSEL
Substrate forms, and rule or irregular alignment have VCSEL light-emitting particles, each VCSEL light-emitting particles on the VCSEL light-emitting substrate
Corresponding beam of laser realizes that all light-emitting particles are point-by-point or divide by the control module and driving circuit of the VCSEL dot matrix
It lights in area.
4. the VCSEL laser speckle projector according to claim 1, the collimating mirror is selected from single or multiple lens groups,
Either microlens array and different zones VCSEL dot matrix corresponds.
5. the VCSEL laser speckle projector according to claim 1, the material of the collimating mirror is selected from all-plastic, glass is moulded
The collimating element of mixing or the production of WLO wafer scale technique.
6. the VCSEL laser speckle projector according to claim 1, the collimating mirror synthesis is in the diffraction optical device
The back side of DOE.
7. the VCSEL laser speckle projector according to claim 1, the collimation processing refers to through collimating mirror, will send out
The very big laser beam light in scattered angle becomes in parallel, to form collimated light beam.
8. the VCSEL laser speckle projector according to claim 1, wherein the duplication and spelling of the basic coding pattern
The mode of connecing includes regularly arranged duplication or the duplication that is staggered.
9. the VCSEL laser speckle projector according to claim 8, wherein the duplication side of the diffraction optical device DOE
Formula includes one or more layers copy mode.
10. the VCSEL laser speckle projector according to claim 1, which is suitable for ultra-thin
Intelligent terminal, including smart phone, smart television, PAD and laptop.
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| CN201811237763.2A CN109270699A (en) | 2018-10-23 | 2018-10-23 | A kind of VCSEL laser speckle projector |
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| CN201811237763.2A CN109270699A (en) | 2018-10-23 | 2018-10-23 | A kind of VCSEL laser speckle projector |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111443497A (en) * | 2020-05-13 | 2020-07-24 | 浙江水晶光电科技股份有限公司 | Laser projection module, depth imaging device and conversion lens selection method |
| WO2020177007A1 (en) * | 2019-03-01 | 2020-09-10 | Shenzhen Raysees Technology Co., Ltd. | Pattern projector based on vertical cavity surface emitting laser (vcsel) array |
| CN111649695A (en) * | 2020-06-05 | 2020-09-11 | 苏州若柏视智能科技有限公司 | Binocular vision sensor and object identification method |
| CN113311451A (en) * | 2021-05-07 | 2021-08-27 | 西安交通大学 | Laser speckle projection ToF depth sensing method and device |
| CN113495309A (en) * | 2020-03-20 | 2021-10-12 | 宁波舜宇车载光学技术有限公司 | Light diffusion system |
| CN114297852A (en) * | 2021-12-28 | 2022-04-08 | 北京的卢深视科技有限公司 | Speckle structured light transmitting and receiving device, signal-to-noise ratio obtaining method and electronic equipment |
| CN114371554A (en) * | 2021-12-31 | 2022-04-19 | 嘉兴驭光光电科技有限公司 | Diffractive optical element for beam splitting, method for designing the same, and structured light projector |
| 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 |
| CN115016202A (en) * | 2022-06-28 | 2022-09-06 | 嘉兴驭光光电科技有限公司 | Method for increasing scattered spot density, diffraction optical element and projector |
| WO2023208751A1 (en) * | 2022-04-26 | 2023-11-02 | Trinamix Gmbh | Monitoring a condition of a living organism |
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| CN113490880A (en) * | 2019-03-01 | 2021-10-08 | 瑞识科技（深圳）有限公司 | Pattern projector based on Vertical Cavity Surface Emitting Laser (VCSEL) array |
| WO2020177007A1 (en) * | 2019-03-01 | 2020-09-10 | Shenzhen Raysees Technology Co., Ltd. | Pattern projector based on vertical cavity surface emitting laser (vcsel) array |
| CN113495309B (en) * | 2020-03-20 | 2023-12-01 | 宁波舜宇车载光学技术有限公司 | light diffusion system |
| CN113495309A (en) * | 2020-03-20 | 2021-10-12 | 宁波舜宇车载光学技术有限公司 | Light diffusion system |
| CN111443497B (en) * | 2020-05-13 | 2023-11-28 | 东莞埃科思科技有限公司 | Laser projection module, depth imaging device and method for selecting conversion lens |
| CN111443497A (en) * | 2020-05-13 | 2020-07-24 | 浙江水晶光电科技股份有限公司 | Laser projection module, depth imaging device and conversion lens selection method |
| CN111649695A (en) * | 2020-06-05 | 2020-09-11 | 苏州若柏视智能科技有限公司 | Binocular vision sensor and object identification method |
| CN113311451A (en) * | 2021-05-07 | 2021-08-27 | 西安交通大学 | Laser speckle projection ToF depth sensing method and device |
| CN113311451B (en) * | 2021-05-07 | 2024-01-16 | 西安交通大学 | Laser speckle projection TOF depth perception method and device |
| CN114297852A (en) * | 2021-12-28 | 2022-04-08 | 北京的卢深视科技有限公司 | Speckle structured light transmitting and receiving device, signal-to-noise ratio obtaining method and electronic equipment |
| CN114297852B (en) * | 2021-12-28 | 2023-03-24 | 合肥的卢深视科技有限公司 | Speckle structured light transmitting and receiving device, signal-to-noise ratio obtaining method and electronic equipment |
| CN114371554A (en) * | 2021-12-31 | 2022-04-19 | 嘉兴驭光光电科技有限公司 | Diffractive optical element for beam splitting, method for designing the same, and structured light projector |
| 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 |
| WO2023208751A1 (en) * | 2022-04-26 | 2023-11-02 | Trinamix Gmbh | Monitoring a condition of a living organism |
| CN115016202A (en) * | 2022-06-28 | 2022-09-06 | 嘉兴驭光光电科技有限公司 | Method for increasing scattered spot density, diffraction optical element and projector |
| CN115016202B (en) * | 2022-06-28 | 2024-03-26 | 嘉兴驭光光电科技有限公司 | Method for improving scattered spot density, diffraction optical element and projector |
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Application publication date: 20190125 |
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