CN109739027A - Luminous point array projection mould group and depth camera - Google Patents
Luminous point array projection mould group and depth camera Download PDFInfo
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- CN109739027A CN109739027A CN201910038363.7A CN201910038363A CN109739027A CN 109739027 A CN109739027 A CN 109739027A CN 201910038363 A CN201910038363 A CN 201910038363A CN 109739027 A CN109739027 A CN 109739027A
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Abstract
The invention discloses a kind of luminous point array projection mould group and depth cameras.It include: light source, for providing preset first speckle patterns；The light emission side of the light source is arranged in collimation lens, to receive first speckle patterns and first speckle patterns are modulated to the first speckle patterns of collimation；The light emission side of the collimation lens is arranged in Darman raster, the Darman raster, to receive the first speckle patterns of the collimation and be replicated extension, to obtain the second speckle patterns；The light emission side of the Darman raster is arranged in projecting lens, the projecting lens, to receive second speckle patterns and second speckle patterns are projected to object to be measured scene according to predetermined ratio.Dot matrix duplication extension is carried out using Darman raster, the diffracted intensity uniformity of luminous point array projection mould group can be made more preferable, therefore, depth camera has more unified depth measurement index, provides higher freedom degree and more accurate underlying parameter value for subsequent applications exploitation.
Description
Technical field
The present invention relates to three dimensional depth field of measuring technique, in particular to a kind of luminous point array projection mould group and depth camera.
Background technique
Three dimensional depth measuring technique can acquire the depth coordinate information of scene objects, provide additional data for rear end exploitation
Handle freedom degree.Universal with mobile terminal device and intelligent interaction device, three dimensional depth measuring technique increasingly becomes new
The core technology of generation human-computer interaction, industrial detection, security protection retail, somatic sensation television game, mobile payment and in terms of
Suffer from broad application prospect.
Pattern light technology is a kind of three dimensional depth measurement scheme being currently widely used.Random after its use coding,
The spot light cluster of pseudorandom or regular array is projected to specific spatial scene, by the deformation displacement meter for comparing characteristic spots
Calculation obtains the depth information of scene.Preset speckle pattern is projected to actual scene by projective module group, is pattern optical depth
The hardware foundation of measurement.Usual projective module group includes light source, collimation lens and diffraction optical element (Diffractive
Optical Element, DOE).Wherein edge-emitting laser (Edge-Emitted Laser, EEL) or vertical can be used in light source
Cavity surface emitting lasers (Vertical Cavity Surface Emitting Laser, VCSEL), wavelength selection infrared waves
Section, such as 940nm or the high wave band of other efficiencies of transmission.The effect of collimation lens is that simple lens, group can be used in beam shaping
Lens, hololens, microlens array or Fresnel Lenses are closed to realize.DOE is the diffraction grating with some cycles, function
Can receive the illuminating bundle of light source and be modulated to array of spots, form the pattern optical illumination of covering scene object.
The application of current depth measuring technique is further extensive, therefore the projection quality of luminous point array projection mould group is required
Higher and higher, the projective module group that intensity homogeneity is good, signal-to-noise ratio is high becomes Research Requirements urgent in industry.However it is current common
Projective module group in intensity homogeneity between DOE diffraction time still have deficiency, the hot spot being projected out often central area and edge
Interregional intensity value difference is larger, and the depth for affecting scene entirety obtains precision, is especially measuring farther out or closer distance object
When body, the heterogeneity influence of intensity seems more prominent, this constrains the development of three dimensional depth measuring technique significantly.
In summary, in three dimensional depth fields of measurement, how to design the high speckle of the good signal-to-noise ratio of intensity homogeneity and throw
Shadow mould group becomes current one of the technical problems that are urgent to solve.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art, a kind of luminous point array projection mould is proposed
Group and a kind of depth camera.
To achieve the goals above, the first aspect of the present invention provides a kind of luminous point array projection mould group, comprising:
Light source, the light source is for providing preset first speckle patterns；
The light emission side of the light source is arranged in collimation lens, the collimation lens, to receive first speckle patterns simultaneously
First speckle patterns are modulated to the first speckle patterns of collimation；
The light emission side of the collimation lens is arranged in Darman raster, the Darman raster, to receive the first spot of the collimation
Dot pattern is simultaneously replicated extension, to obtain the second speckle patterns；
The light emission side of the Darman raster is arranged in projecting lens, the projecting lens, to receive second spot figure
Second speckle patterns are simultaneously projected to object to be measured scene according to predetermined ratio by case.
Optionally, the light source uses laser light source, and the laser light source includes several sub- laser light sources, described several
A sub- laser light source is arranged in array.
Optionally, if the Darman raster includes being cascading along the optical axis direction of the luminous point array projection mould group
Dried layer Dammam sub-gratings, to realize the diffraction time distribution pattern for meeting preset requirement.
Optionally, every layer of Dammam sub-gratings include several grades of diffraction times, wherein perpendicular to base direction
On, there is preset magnitude of misalignment between the neighboring diffraction level of at least one layer of Dammam sub-gratings.
Optionally, the Darman raster includes the first layer Dammam sub-gratings being cascading and second layer Dammam sub-light
Grid have preset dislocation on perpendicular to the base direction between the neighboring diffraction level of the first layer Dammam sub-gratings
Amount.
Optionally, the diffraction time of the first layer Dammam sub-gratings is M × N, and the second layer Dammam sub-gratings spread out
Penetrating level is P × Q, and the total diffraction time of the Darman raster is M × N × P × Q, wherein M, N, P and Q are positive integer.
Optionally, the range of the magnitude of misalignment is 1/8 period~1/4 period.
Optionally, the collimation lens is saturating using simple lens, compound lens, hololens, microlens array or Fresnel
Any one or more combination in mirror.
The second aspect of the present invention provides a kind of depth camera, including the luminous point array projection mould recorded above
Group.
Optionally, the depth camera further includes RGB color camera, infrared camera and data processing unit, the light
Dot matrix projective module group, the RGB color camera and the infrared camera are electrically connected with the data processing unit.
Luminous point array projection mould group of the invention and depth camera comprising light source, collimation lens, the Dammam light set gradually
Grid and projecting lens.Dot matrix duplication extension is carried out using Darman raster, the diffraction optical element with general type
(Diffractive Optical Element, DOE) is compared, the diffracted intensity uniformity of luminous point array projection mould group of the invention
More preferably, therefore, there is more unified depth measurement index using the depth camera of the luminous point array projection mould group, is being answered to be subsequent
Higher freedom degree and more accurate underlying parameter value are provided with exploitation.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of luminous point array projection mould group in first embodiment of the invention；
Fig. 2 is the diffraction pattern schematic diagram of first layer Dammam sub-gratings (4 × 3 level) in second embodiment of the invention；
Fig. 3 is the diffraction pattern schematic diagram of second layer Dammam sub-gratings (3 × 3 level) in third embodiment of the invention；
Fig. 4 is first layer Dammam sub-gratings and the superimposed diffraction of second layer Dammam sub-gratings in fourth embodiment of the invention
Pattern diagram；
Fig. 5 is projected light dot matrix effect diagram in fifth embodiment of the invention；
Fig. 6 is the structural schematic diagram of depth camera in sixth embodiment of the invention.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
As shown in Figure 1, the first aspect of the present invention, is related to a kind of luminous point array projection mould group, the luminous point array projection mould group packet
Include light source 11, collimation lens 13, Darman raster 14 and projecting lens 15.Wherein, light source 11 can provide preset first spot
Pattern 12.The light emission side of the light source 11 is arranged in the collimation lens 13, to receive first speckle patterns 12 and by institute
It states the first speckle patterns 12 and is modulated to the first speckle patterns of collimation, which preferably can be using simple lens, combination
Lens, hololens, microlens array or Fresnel Lenses are realized.The Darman raster 14 is arranged in the collimation lens 13
Light emission side, to receive the first speckle patterns of the collimation and be replicated extension, to obtain the second speckle patterns, Darman raster
14 for two steps or higher stepped profile after optimization design phase grating, diffraction time is sufficiently constrained in optimization design
Light intensity uniformity.The light emission side of the Darman raster 14 is arranged in the projecting lens 15, to receive second speckle patterns
And second speckle patterns are projected to object to be measured scene according to predetermined ratio.
The luminous point array projection mould group of the present embodiment comprising light source 11, collimation lens 13, the Darman raster 14 set gradually
With projecting lens 15.The present embodiment carries out dot matrix duplication extension using Darman raster 14, and Darman raster 14 is after optimization design
The phase grating of two steps or higher stepped profile sufficiently constrains the light intensity uniformity of diffraction time in optimization design.Therefore,
It is compared, the luminous point of the present embodiment with the diffraction optical element (Diffractive Optical Element, DOE) of general type
The diffracted intensity uniformity of array projection mould group is more preferable, therefore, has in the depth camera using the luminous point array projection mould group and compares
Unified depth measurement index provides higher freedom degree and more accurate underlying parameter value for subsequent applications exploitation.
Light source 11 can preferably use laser light source, which include several sub- laser light sources, this several
Sub- laser light source can be arranged in array, for example, the laser light source can use VCSEL laser, be surveyed according to specifically depth
Tens, even more luminous points (each corresponding sub- laser light source of counting that shines) up to a hundred can be set in amount demand, this
Sample, the laser light source can provide preset first speckle patterns 12.In addition, in the present embodiment, VCSEL laser can select
940nm wavelength is selected, or is the high wavelength window of other efficiencies of transmission.Certainly, the present invention is not limited thereto, this field skill
Art personnel can also select other some light-source structures according to actual needs.
Optionally, the Darman raster 14 includes being cascading along the optical axis direction of the luminous point array projection mould group
Several layers Dammam sub-gratings, to realize the diffraction time distribution pattern for meeting preset requirement.It should be understood that Darman raster 14
Effective order of diffraction number be according to specific transmitting field angle (Field ofview, FOV), the light emitting region VCSEL size
It is designed with 13 focal length of collimation lens.
Optionally, every layer of Dammam sub-gratings include several grades of diffraction times, wherein perpendicular to baseline (such as Fig. 1
Shown in horizontal direction) on direction, there is preset dislocation between the neighboring diffraction level of at least one layer of Dammam sub-gratings
Amount.
Specifically, the Darman raster 14 includes the first layer Dammam sub-gratings being cascading and second layer Dammam
Grating, as shown in Fig. 2, the diffraction time of the first layer Dammam sub-gratings is M × N (M=4 herein, N=3), as shown in figure 3,
The diffraction time of the second layer Dammam sub-gratings is P × Q (P=3, Q=3), and the total diffraction time of the Darman raster 14 is M
× N × P × Q (4 × 3 × 3 × 3), as shown in Figure 4, wherein M, N, P and Q are positive integer.Also, as shown in Fig. 2, vertical
In on the base direction, there is preset magnitude of misalignment between the neighboring diffraction level of the first layer Dammam sub-gratings.
The present inventor pass through experimental studies have found that, the depth measurement based on pattern light generally requires subpoint
Battle array is along base direction (such as horizontal direction), there are biggish non-correlations, in order to determine the deflection in feature dot matrix area domain,
To carry out specific depth information calculating, therefore, in the present embodiment, on perpendicular to the base direction, described first
There is preset magnitude of misalignment between the neighboring diffraction level of layer Dammam sub-gratings, that is to say, that as shown in the left figure in Fig. 2, first
Layer Dammam sub-gratings are not the axisymmetric distribution of rule.For the requirement for meeting non-correlation, as shown in the right figure in Fig. 2,
The diffraction time of the first layer Dammam sub-gratings of the present embodiment carries out dislocation optimization, makes its adjacent level on perpendicular to base direction
Period namely first layer Dammam sub-gratings were misplaced for 1/8 period for~1/4 period and (can preferably misplaced for 1/4 period) between secondary on edge
It misplaced between adjacent level time for 1/8 period on vertical direction for~1/4 period, certainly, those skilled in the art can also be according to practical need
It wants, selects some other specific magnitude of misalignment value.
Specifically, the left figure in Fig. 2 illustrates the Darman raster of conventional axisymmetric distributed diffraction level, horizontal and
The diffraction time period of vertical direction is respectively dxWith dy, diffraction time is M × N (M=4, N=3) distribution.The right figure of Fig. 2 is this
First layer Dammam sub-gratings after invention optimization design have the distribution pattern of dislocation diffraction time.It spreads out vertical direction
Penetrate the period of dislocation 1/4 between level, txWith tyThe diffraction period in vertical and horizontal direction respectively, δ is error angle, in the present embodiment its
Value are as follows:
As shown in figure 3, the second layer Dammam sub-gratings of the present embodiment are the diffraction time distribution pattern of conventional axisymmetric.
As shown in figure 3, its diffraction time is P × Q (P=3, Q=3) distribution, the horizontal diffraction period with vertical direction is respectively TxWith
Ty, and meet:
In this way, the superimposed total order of diffraction number of two layers of Dammam sub-gratings is M × N × P × Q (i.e. 9 × 12), such as Fig. 4 institute
Show, neighboring diffraction level has 14 ° of δ ≈ of magnitude of misalignment in the vertical direction.
It should be noted that the diffraction periodic quantity (t of two layers of Dammam sub-gratingsx, ty, TxWith Ty) need to be according to concrete application field
The focal length of the field angle of scape, the light emitting region size of VCSEL and projecting lens carries out matching optimization design, reaches preset dot matrix
Projection lighting mode.
Fig. 5 show the projected light dot matrix effect diagram of entire luminous point array projection mould group, wherein FxWith FyIt is respectively horizontal
With the effective viewing field angle of vertical direction, laser light source can provide the first speckle patterns 12, by collimation projection, Darman raster
And the second speckle patterns 17 are ultimately formed after projecting lens.
The second aspect of the present invention, as shown in fig. 6, a kind of depth camera 21 is provided, including luminous point array projection mould group 22,
The luminous point array projection mould group 22 can be using the luminous point array projection mould group recorded above, specifically can be with reference to related above
It records, therefore not to repeat here.
The depth camera of the present embodiment, using the luminous point array projection mould group recorded above comprising the light source set gradually
11, collimation lens 13, Darman raster 14 and projecting lens 15.The present embodiment carries out dot matrix duplication extension using Darman raster 14,
Darman raster 14 is the phase grating of two steps or higher stepped profile after optimization design, and sufficiently constraint is spread out in optimization design
Penetrate the light intensity uniformity of level.Therefore, with the diffraction optical element of general type (Diffractive Optical Element,
DOE it) compares, the diffracted intensity uniformity of the luminous point array projection mould group of the present embodiment is more preferable, and therefore, which, which has, compares
Unified depth measurement index provides higher freedom degree and more accurate underlying parameter value for subsequent applications exploitation.
Optionally, as shown in fig. 6, the depth camera 21 further includes RGB color camera 23, infrared camera 24 and data
Processing unit 25, the luminous point array projection mould group 22, the RGB color camera 23 and the infrared camera 24 with the data
Processing unit 25 is electrically connected.Wherein, the RGB color camera 23 is for acquiring scene traditional color image.The infrared camera
24 are used for photographed scene speckle image.The data processing unit 25 is for analyzing and processing data and synthesizes depth map.
Specifically, the depth calculation based on pattern light is usually by the scene speckle image collected of infrared camera 24
Matching comparison operation is carried out with the reference planes speckle image kept is demarcated in advance, is handled by 25 analysis of data processing unit
Derive that the depth of the object point in actual scene is believed to the deflection of character pair pixel between the two, and according to deflection
Breath, the depth value group of multiple pixels are combined into point cloud data, and the depth image of object scene is constituted after being further processed.
RGB color camera 23 acquires the otherwise visible light color image of scene and the texture information of object, cooperates depth image
The 3-D image that output is scene can be rendered by data processing unit afterwards.
It may include optical filter (such as corresponding VCSEL light source wavelength for only respective wavelength light being allowed to pass through in infrared camera 24
940nm) and polarizing film, to improve the scene speckle image quality of acquisition.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, essence of the invention is not being departed from
In the case where mind and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (10)
1. a kind of luminous point array projection mould group characterized by comprising
Light source, the light source is for providing preset first speckle patterns；
The light emission side of the light source is arranged in collimation lens, the collimation lens, to receive first speckle patterns and by institute
It states the first speckle patterns and is modulated to the first speckle patterns of collimation；
The light emission side of the collimation lens is arranged in Darman raster, the Darman raster, to receive the first spot figure of the collimation
Case is simultaneously replicated extension, to obtain the second speckle patterns；
The light emission side of the Darman raster is arranged in projecting lens, the projecting lens, to receive second speckle patterns simultaneously
Second speckle patterns are projected to object to be measured scene according to predetermined ratio.
2. luminous point array projection mould group according to claim 1, which is characterized in that the light source uses laser light source, described
Laser light source includes several sub- laser light sources, and several sub- laser light sources are arranged in array.
3. luminous point array projection mould group according to claim 1, which is characterized in that the Darman raster includes along the luminous point
The several layers Dammam sub-gratings that the optical axis direction of array projection mould group is cascading, to realize the order of diffraction for meeting preset requirement
Secondary distribution pattern.
4. luminous point array projection mould group according to claim 3, which is characterized in that if every layer of Dammam sub-gratings include
Dry grade diffraction time, wherein on perpendicular to base direction, have between the neighboring diffraction level of at least one layer of Dammam sub-gratings
There is preset magnitude of misalignment.
5. luminous point array projection mould group according to claim 4, which is characterized in that the Darman raster includes stacking gradually to set
The first layer Dammam sub-gratings and second layer Dammam sub-gratings set, on perpendicular to the base direction, the first layer Dammam
There is preset magnitude of misalignment between the neighboring diffraction level of sub-gratings.
6. luminous point array projection mould group according to claim 5, which is characterized in that the diffraction of the first layer Dammam sub-gratings
Level is M × N, and the diffraction times of the second layer Dammam sub-gratings is P × Q, the total diffraction time of the Darman raster be M ×
N × P × Q, wherein M, N, P and Q are positive integer.
7. luminous point array projection mould group according to claim 4, which is characterized in that the range of the magnitude of misalignment was 1/8 period
~1/4 period.
8. luminous point array projection mould group as claimed in any of claims 1 to 7, which is characterized in that the collimation lens
Using any one or more combination in simple lens, compound lens, hololens, microlens array or Fresnel Lenses.
9. a kind of depth camera, which is characterized in that including luminous point array projection mould group described in any one of claim 1 to 8.
10. depth camera according to claim 9, which is characterized in that the depth camera further include RGB color camera,
Infrared camera and data processing unit, the luminous point array projection mould group, the RGB color camera and the infrared camera with
The data processing unit electrical connection.
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| CN110400341A (en) * | 2019-07-03 | 2019-11-01 | 北京华捷艾米科技有限公司 | A kind of 3D structure light depth camera and mobile terminal |
| CN110780452A (en) * | 2019-11-18 | 2020-02-11 | 北京华捷艾米科技有限公司 | Diffraction optical assembly with adjustable diffraction light spot pattern, projection device and diffraction method |
| CN112394526A (en) * | 2019-08-19 | 2021-02-23 | 上海鲲游光电科技有限公司 | Multi-dimensional camera device and application terminal and method thereof |
| CN112859223A (en) * | 2021-01-25 | 2021-05-28 | 上海交通大学 | Surface-corrugated mechanical composite grating system and tuning method |
| CN113791397A (en) * | 2021-08-06 | 2021-12-14 | Oppo广东移动通信有限公司 | Light emission module, depth camera and terminal |
| CN115135957A (en) * | 2020-02-25 | 2022-09-30 | 华为技术有限公司 | Depth estimation system for electronic devices |
| CN116559986A (en) * | 2023-05-15 | 2023-08-08 | 暨南大学 | Dot matrix projector device and preparation method thereof |
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