CN110035269A - A kind of bimodulus depth camera - Google Patents
A kind of bimodulus depth camera Download PDFInfo
- Publication number
- CN110035269A CN110035269A CN201910295957.6A CN201910295957A CN110035269A CN 110035269 A CN110035269 A CN 110035269A CN 201910295957 A CN201910295957 A CN 201910295957A CN 110035269 A CN110035269 A CN 110035269A
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- tof
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- depth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a kind of bimodulus depth cameras, including pcb board and the RGB camera, TOF transmitter and the TOF camera that are equipped on the same face of the pcb board, the TOF camera includes the first camera lens, optical splitter, the first RGB sensor and TOF sensor, the optical splitter has a plane of incidence, the first exit facet and the second exit facet, the plane of incidence goes out light end towards first camera lens, photosurface of first exit facet towards the first RGB sensor, photosurface of second exit facet towards the TOF sensor.The bimodulus depth camera integrates two kinds of Range finder modes of binocular depth ranging and TOF Range finder, and has structure simple, small in size.
Description
Technical field
The present invention relates to a kind of bimodulus depth cameras.
Background technique
With the development of the photography technology of the electric terminals such as mobile phone, depth camera using more and more extensive.Traditional depth
It spends camera and uses binocular depth camera, i.e., visible light is imaged respectively using two RGB cameras, form the first RGB
Image and the second RGB image, then binocular depth algorithm calculates the depth information of object, forms RGB depth image, is applicable in
Smaller in the distance of wide-long shot, object, the calculating error of depth information is bigger；TOF depth camera at later development,
TOF transmitter is actively to the TOF light of object transmitting predetermined band, and TOF light is imaged in TOF camera, according to TOF light
Launch time and receive the time to calculate the depth information of object, although computational accuracy is high, effective distance is only 1.5m
Left and right is only applicable to short distance shooting.Combined using binocular depth camera and TOF depth camera cover the shortage be it is a kind of very
Good scheme, but so multi-cam integrates, and will necessarily result in the defects of modular structure is complicated, volume is big.
Summary of the invention
In order to solve above-mentioned the deficiencies in the prior art, the present invention provides a kind of bimodulus depth camera, integrates binocular depth and surveys
Away from two kinds of Range finder modes of TOF Range finder, and have structure it is simple, small in size.
The technical problems to be solved by the invention are achieved by the following technical programs:
A kind of bimodulus depth camera, including pcb board and the RGB camera being equipped on the same face of the pcb board, TOF transmitting
Device and TOF camera, the TOF camera includes the first camera lens, optical splitter, the first RGB sensor and TOF sensor, described
Optical splitter has a plane of incidence, the first exit facet and the second exit facet, and the plane of incidence goes out light end towards first camera lens,
First exit facet is towards the photosurface of the first RGB sensor, and second exit facet is towards the TOF sensor
Photosurface.
It further, further include image processing circuit, for carrying out depth calculation and image procossing.
Further, described image processing circuit includes depth calculator and image processor, the depth calculator
Input terminal is electrically connected to the output end of the TOF transmitter and the TOF sensor in the TOF camera, to receive the TOF
The TOF light that the launch time signal for the TOF light that transmitter is sent and the TOF sensor are sent receives time signal, then
Calculate the depth information of object；The input terminal of described image processor is electrically connected to the RGB camera, the TOF takes the photograph
As the first RGB sensor and the depth calculator in head output end with receive that the first RGB sensor sends the
The depth information that the second RGB image signal and the depth calculator that one RGB image signal, RGB camera shooting are sent are sent
Signal.
Further, described image processing circuit is set on the pcb board.
Further, the TOF camera further includes first support, and the first support is set on the pcb board, described
First camera lens is set in the first support；There is in the first support one first accommodating chamber, the first RGB sensor,
TOF sensor and optical splitter are respectively positioned in first accommodating chamber, wherein the first RGB sensor is set on the pcb board,
The TOF sensor is set on the inner sidewall of first accommodating chamber；First accommodating chamber the entering towards first camera lens
A light hole is communicated at light end, so that mixed light is incident to the incidence of the optical splitter from the light end that goes out of first camera lens
Face.
Further, the first support be equipped with its integrated connection circuit, the connection circuit is by described the
The inner sidewall that one bracket corresponds to the TOF sensor extends to the bottom of the first support, is located at the first support
The part of inner sidewall be electrically connected with the TOF sensor, be located at the bottom of the first support part and the pcb board
Electrical connection, is electrically connected to the pcb board for the TOF sensor.
Further, the first support is the plastic rubber bracket for being mixed with metal organic additive, is laid with the connection
There is the exposed metal/bare metal region formed through laser irradiation on the surface of circuit；The connection circuit plating is in the exposed metal/bare metal area
Integral structure is formed with the first support on domain.
Further, the optical splitter includes semi-transparent semi-reflecting glass, visible filter and TOF light optical filter, and described half
The front of saturating half anti-glass is as the plane of incidence and the first exit facet, the back side as the second exit facet, the visible filter position
Before the photosurface of the first RGB sensor, before the TOF light optical filter is located at the photosurface of the TOF sensor.
Further, the RGB camera includes the second camera lens and the 2nd RGB sensor, and second camera lens goes out light
Hold the photosurface towards the 2nd RGB sensor.
Further, the RGB camera further includes second support, and the second support is set on the pcb board, described
Second camera lens is set in the second support；There is one second accommodating chamber, the 2nd RGB sensor position in the first support
In in first accommodating chamber and on the pcb board；First accommodating chamber is towards at the light inputting end of second camera lens
It is communicated with a light hole, so that visible light is incident to the photosensitive of the 2nd RGB sensor from the light end that goes out of first camera lens
On face.
The invention has the following beneficial effects: the bimodulus depth cameras to integrate binocular depth ranging and TOF Range finder two
Kind Range finder mode, and TOF sensor and the first RGB sensor are set simultaneously in the TOF camera, with the RGB
Camera collocation uses, and has structure simple, small in size.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of bimodulus depth camera provided by the invention；
Fig. 2 is the circuit diagram of bimodulus depth camera provided by the invention.
Specific embodiment
The present invention will be described in detail with reference to the accompanying drawings and examples.
As illustrated in fig. 1 and 2, a kind of bimodulus depth camera including pcb board 1 and is equipped on the same face of the pcb board 1
RGB camera 2, TOF transmitter 4 and TOF camera 3, the TOF camera 3 includes the first camera lens 31, optical splitter 32, the
One RGB sensor 34 and TOF sensor 33, the optical splitter 32 have a plane of incidence, the first exit facet and the second exit facet, institute
It states the plane of incidence and goes out light end, sense of first exit facet towards the first RGB sensor 34 towards first camera lens 31
Smooth surface, photosurface of second exit facet towards the TOF sensor 33.
When in use, the TOF camera 3 emits the TOF light of predetermined band to object, and the optical splitter 32 will be shot
The visible light of object reflection and the mixed light of TOF light are divided, will be seen that light is emitted on the first RGB sensor 34,
The first RGB image is formed, TOF light is emitted in the TOF sensor 33, forms depth information；The RGB camera 2 obtains
The visible light for taking object to reflect forms the second RGB image.On the electric terminals such as mobile phone, terminal handler is according to user
The depth screening-mode of selection takes the photograph depth mode and TOF depth mode switches over to double, takes the photograph in depth mode double, at terminal
Reason device starts the first RGB sensor 34 and RGB camera 2 in the TOF camera 3, and then image processing circuit is by first
RGB figure and the second RGB image are synthesized, and RGB depth image is formed；In TOF depth mode, terminal handler starts institute
TOF transmitter 4 and the first RGB sensor 34 and TOF sensor 33 in the TOF camera 3 are stated, then image procossing electricity
Road synthesizes the first RGB image and depth information, forms RGB depth image, or the starting TOF transmitter 4, RGB
TOF sensor 33 in camera 2 and the TOF camera 3, then image processing circuit believes the second RGB image and depth
Breath is synthesized, and RGB depth image is formed.
When in use, terminal handler can also start any depth mode first to obtain the depth of object under preview mode
Information is spent, if the distance of object is less than preset distance, switches to TOF depth mode, is made a reservation for if the distance of object is greater than
Distance then switches to and double takes the photograph depth mode.
Described image processing circuit can be set on the pcb board 1, can also be set to the terminal mainboard for carrying terminal handler
On, including depth calculator and image processor, the input terminal of the depth calculator be electrically connected to 4 He of TOF transmitter
The output end of TOF sensor 33 in the TOF camera 3, when transmitting to receive the TOF light that the TOF transmitter 4 is sent
Between the signal and the TOF sensor 33 TOF light that sends receive time signal, then calculate the depth information of object；
The input terminal of described image processor is electrically connected to the RGB camera 2, the first RGB sensor in the TOF camera 3
34 and the depth calculator output end to receive the first RGB image signal that the first RGB sensor 34 is sent, described
The depth information signal that the second RGB image signal and the depth calculator that RGB camera shooting is sent are sent；Described image processor
Output end be electrically connected to terminal handler again to export RGB depth image signal.
Preferably, the first RGB sensor 34 and TOF sensor 33 are perpendicular.The optical splitter 32 includes semi-transparent half
The front of anti-glass, visible filter and TOF light optical filter, the semi-transparent semi-reflecting glass is emitted as the plane of incidence and first
Face, the back side are described before the visible filter is located at the photosurface of the first RGB sensor 34 as the second exit facet
Before TOF light optical filter is located at the photosurface of the TOF sensor 33.Preferably, the TOF light is near infrared light, i.e., the described TOF
Transmitter 4 is near infrared emission device 4, and the TOF sensor 33 is near infrared sensor, and the TOF light optical filter is near-infrared
Light optical filter.
The TOF camera 3 further includes first support 35, and the first support 35 is set on the pcb board 1, and described the
One camera lens 31 is set in the first support 35；There is one first accommodating chamber, the first RGB sensing in the first support 35
Device 34, TOF sensor 33 and optical splitter 32 are respectively positioned in first accommodating chamber, wherein the first RGB sensor 34 is set to
On the pcb board 1, the TOF sensor 33 is set on the inner sidewall of first accommodating chamber, and the optical splitter 32 is set to described
On the inner top surface of first accommodating chamber；First accommodating chamber is towards being communicated with a light passing at the light inputting end of first camera lens 31
Hole, so that mixed light is incident to the plane of incidence of the optical splitter 32 from the light end that goes out of first camera lens 31.
The first support 35 be equipped with its integrated connection circuit 36, the connection circuit 36 is by described first
The inner sidewall that frame 35 corresponds to the TOF sensor 33 extends to the bottom of the first support 35, is located at described first
The part of the inner sidewall of frame 35 is electrically connected with the TOF sensor 33, be located at the first support 35 bottom part with
The pcb board 1 is electrically connected, and the TOF sensor 33 is electrically connected to the pcb board 1.The first support 35 is to be mixed with
The plastic rubber bracket of metal organic additive, being laid on the surface of the connection circuit 36 has the metal formed through laser irradiation
Exposed region；The plating of connection circuit 36 forms integrated knot with the first support 35 on the exposed metal/bare metal region
Structure.
The RGB camera 2 includes the second camera lens 21, second support 23 and the 2nd RGB sensor 22, second camera lens
21 photosurface of the light end towards the 2nd RGB sensor 22 out, the second support 23 is set on the pcb board 1, described
Second camera lens 21 is set in the second support 23；There is one second accommodating chamber, the 2nd RGB is passed in the first support 35
Sensor 22 is located in first accommodating chamber and is set on the pcb board 1；First accommodating chamber is towards second camera lens 21
Light inputting end at be communicated with a light hole, for visible light from first camera lens 31 go out light end be incident to the 2nd RGB
On the photosurface of sensor 22.
The bimodulus depth camera integrates two kinds of Range finder modes of binocular depth ranging and TOF Range finder, and described
TOF sensor 33 and the first RGB sensor 34 are set simultaneously in TOF camera 3, arranges in pairs or groups and uses with the RGB camera 2, tool
There is structure simple, small in size.
Embodiments of the present invention above described embodiment only expresses, the description thereof is more specific and detailed, but can not
Therefore limitations on the scope of the patent of the present invention are interpreted as, as long as skill obtained in the form of equivalent substitutions or equivalent transformations
Art scheme should all be fallen within the scope and spirit of the invention.
Claims (10)
1. a kind of bimodulus depth camera, including pcb board and the RGB camera being equipped on the same face of the pcb board, TOF hair
Emitter and TOF camera, it is characterised in that: the TOF camera include the first camera lens, optical splitter, the first RGB sensor and
TOF sensor, the optical splitter have a plane of incidence, the first exit facet and the second exit facet, and the plane of incidence is towards described the
One camera lens goes out light end, photosurface of first exit facet towards the first RGB sensor, the second exit facet direction
The photosurface of the TOF sensor.
2. bimodulus depth camera according to claim 1, it is characterised in that: further include image processing circuit, for carrying out
Depth calculation and image procossing.
3. bimodulus depth camera according to claim 2, it is characterised in that: described image processing circuit includes depth calculation
Device and image processor, the input terminal of the depth calculator are electrically connected in the TOF transmitter and the TOF camera
The output end of TOF sensor, with receive the TOF light that the TOF transmitter is sent launch time signal and the TOF sensor
The TOF light of transmission receives time signal, then calculates the depth information of object；The input terminal electricity of described image processor
Be connected to the output end of the RGB camera, the first RGB sensor in the TOF camera and the depth calculator with
Receive the first RGB image signal that the first RGB sensor sends, the second RGB image signal that RGB camera shooting is sent and
The depth information signal that the depth calculator is sent.
4. bimodulus depth camera according to claim 1 or 2, it is characterised in that: described image processing circuit is set to described
On pcb board.
5. bimodulus depth camera according to claim 1, it is characterised in that: the TOF camera further includes first support,
The first support is set on the pcb board, and first camera lens is set in the first support；Have in the first support
One first accommodating chamber, the first RGB sensor, TOF sensor and optical splitter are respectively positioned in first accommodating chamber, wherein institute
The first RGB sensor is stated on the pcb board, the TOF sensor is set on the inner sidewall of first accommodating chamber；It is described
First accommodating chamber is towards being communicated with a light hole at the light inputting end of first camera lens, so that mixed light is from first camera lens
Light end is incident to the plane of incidence of the optical splitter out.
6. bimodulus depth camera according to claim 5, it is characterised in that: the first support is equipped with integrated with its
Connection circuit, the connection circuit extends to described the by the inner sidewall that the first support corresponds to the TOF sensor
The bottom of one bracket, the part for being located at the inner sidewall of the first support are electrically connected with the TOF sensor, are located at described
The part of the bottom of first support is electrically connected with the pcb board, and the TOF sensor is electrically connected to the pcb board.
7. bimodulus depth camera according to claim 6, it is characterised in that: the first support is organic to be mixed with metal
The plastic rubber bracket of additive, being laid on the surface of the connection circuit has the exposed metal/bare metal region formed through laser irradiation；
The connection circuit plating forms integral structure with the first support on the exposed metal/bare metal region.
8. bimodulus depth camera according to claim 1, it is characterised in that: the optical splitter include semi-transparent semi-reflecting glass,
Make as the plane of incidence and the first exit facet, the back side in the front of visible filter and TOF light optical filter, the semi-transparent semi-reflecting glass
For the second exit facet, before the visible filter is located at the photosurface of the first RGB sensor, the TOF light optical filter
Before the photosurface of the TOF sensor.
9. bimodulus depth camera according to claim 1, it is characterised in that: the RGB camera include the second camera lens and
2nd RGB sensor, second camera lens go out photosurface of the light end towards the 2nd RGB sensor.
10. bimodulus depth camera according to claim 9, it is characterised in that: the RGB camera further includes second
Frame, the second support are set on the pcb board, and second camera lens is set in the second support；In the first support
With one second accommodating chamber, the 2nd RGB sensor is located in first accommodating chamber and is set on the pcb board；It is described
First accommodating chamber is towards being communicated with a light hole at the light inputting end of second camera lens, so that visible light is from first camera lens
Light end is incident on the photosurface of the 2nd RGB sensor out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910295957.6A CN110035269A (en) | 2019-04-12 | 2019-04-12 | A kind of bimodulus depth camera |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910295957.6A CN110035269A (en) | 2019-04-12 | 2019-04-12 | A kind of bimodulus depth camera |
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| CN110035269A true CN110035269A (en) | 2019-07-19 |
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| CN201910295957.6A Pending CN110035269A (en) | 2019-04-12 | 2019-04-12 | A kind of bimodulus depth camera |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112770100A (en) * | 2020-12-31 | 2021-05-07 | 南昌欧菲光电技术有限公司 | Image acquisition method, photographic device and computer readable storage medium |
| WO2021238212A1 (en) * | 2020-05-24 | 2021-12-02 | 奥比中光科技集团股份有限公司 | Depth measurement apparatus and method, and electronic device |
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Application publication date: 20190719 |