CN110221309A - 3D imaging device and electronic equipment based on asynchronous ToF discrete point cloud - Google Patents
3D imaging device and electronic equipment based on asynchronous ToF discrete point cloud Download PDFInfo
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- CN110221309A CN110221309A CN201910362489.XA CN201910362489A CN110221309A CN 110221309 A CN110221309 A CN 110221309A CN 201910362489 A CN201910362489 A CN 201910362489A CN 110221309 A CN110221309 A CN 110221309A
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- discrete
- target object
- collimated light
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- projector
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
Abstract
The present invention provides a kind of 3D imaging device and electronic equipment based on asynchronous ToF discrete point cloud sequentially projects the discrete collimated light beam of multi beam to the different zones of target object in chronological order within a preset period by the asynchronous discrete light beams projector；Discrete collimated light beam described in the multi beam reflected through the target object is sequentially received by photodetector array imager and measures the propagation time of discrete collimated light beam described in multi beam, and then the depth data of the multiple regions of the target object can be obtained, the depth data of the target object surface is generated according to the depth data of the target object multiple regions.The present invention can be realized for the precision and point Yun Midu optimized in specific 3D imaging applications scene, and can keep lower optical power in each projection, can satisfy power consumption and the limitation of laser eye safety.
Description
Technical field
The present invention relates to 3D imaging fields, and in particular, to a kind of 3D imaging device based on asynchronous ToF discrete point cloud and
Electronic equipment.
Background technique
ToF (time of flight) technology is one kind from projector emission measurement light, and makes to measure light by object
Body reflects back into receiver, obtains object to sensor so as to propagate the propagation time in distance herein according to measurement light
Space length 3D imaging technique.Common ToF technology includes simple scan projective techniques and face light projection method.
The ToF method of simple scan projection uses a single-point projector, projects the collimated light of single beam, the standard of the list beam
The projecting direction of direct light is projected different target positions by the control of scanning device.The collimated light of light beam list beam
After object reflects, part light is received by the optical detector of single-point, to obtain the depth measurement number of current projecting direction
According to.Such method can concentrate on all optical powers on one target point, thus the high noise realized in single target point
Than, and then realize high accuracy depth measurement.The scanning of entire target object depends on scanning device, such as mechanical motor,
MEMS, light phased array radar etc..Discrete point cloud data needed for the depth data point splicing that scanning obtains can be obtained 3D imaging.
Such method is advantageously implemented remote 3D imaging, but needs using complicated projection scanning system, higher cost.
The ToF method of face light projection is then to project the continuously distributed face light beam of an energy.Projection light continuously covers mesh
Mark body surface.Optical detector is the photodetector array that can obtain the beam propagation time.The light of target object reflection
For signal by optical imaging system when being imaged on optical detector, the depth that each detector picture point obtains is its image relationship
The depth information of corresponding object space.This method can get rid of complicated scanning system.However, due to the light function of face light projection
Rate density is far below the collimated light of odd number, and signal-to-noise ratio is greatly reduced relative to the method that simple scan projects, so that this method
Distance can be only suitable for reduce, the lower scene of precision.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of 3D based on asynchronous ToF discrete point cloud at
As device and electronic equipment.The present invention uses the projective techniques of asynchronous discrete light beams, can keep lower in each projection
Optical power can satisfy power consumption and the limitation of laser eye safety.
3D imaging device provided by the invention based on asynchronous ToF discrete point cloud, including the asynchronous discrete light beams projector and
Photodetector array imager；
The asynchronous discrete light beams projector is used within a preset period in chronological order sequentially to target object
Different zones project the discrete collimated light beam of multi beam；
The photodetector array imager, for sequentially receiving Discrete-time quasi described in the multi beam reflected through the target object
Collimated optical beam and the propagation time for measuring discrete collimated light beam described in multi beam, and then multiple areas of the target object can be obtained
The depth data in domain generates the depth number of the target object surface according to the depth data of the target object multiple regions
According to.
Preferably, the asynchronous discrete light beams projector includes that the edge-emitting laser being arranged in an optical path and light beam are thrown
Emitter；
The edge-emitting laser, for projecting laser to the beam projector；
The beam projector, for by the incident laser within a preset period in chronological order sequentially to
The different zones of target object project the discrete collimated light beam of multi beam.
Preferably, the asynchronous discrete light beams projector includes the laser array being arranged in an optical path, collimation camera lens
And beam splitting device；
The laser array, including multiple multiple lasers in array arrangement, multiple lasers are divided into multiple
Laser transmitting group passes sequentially through each laser transmitting group to the collimating mirror in chronological order within a preset period
The laser of head first order of magnitude of projection；
The collimation camera lens, for the collimated light beam of first order of magnitude will to be emitted after incident multiple laser collimation；
The beam splitting device, for the standard of second order of magnitude will to be emitted after the collimated light beam beam splitting of the first incident order of magnitude
Collimated optical beam；
Second order of magnitude is greater than first order of magnitude.
Preferably, the photodetector array imager includes optical imaging lens, photodetector array and driving electricity
Road；
The photodetector array includes multiple optical detectors in array distribution, and multiple optical detectors emit component
For multiple optical detector groups, each optical detector group is corresponding with a laser transmitting group；
The optical detector group, for receiving the standard reflected after corresponding laser transmitting group transmitting through the target object
Collimated optical beam；
The optical imaging lens, for so that entering the standard of photodetector array through the optical imaging lens
The direction vector and optical detector of collimated optical beam are in one-to-one relationship；
The driving circuit, for measuring the propagation time of discrete collimated light beam described in multi beam and generating the mesh in turn
The depth data of the multiple regions of body surface is marked, and then according to the generation of the depth data of the target object multiple regions
The depth data of target object surface.
Preferably, the discrete collimated light beam periodic arrangement of the multi beam is in a presetting shape.
Preferably, the presetting shape includes following any shape or the multiple shapes that can mutually switch:
Linear
Triangle；
Quadrangle；
Rectangle；
It is round；
Hexagon；
Pentagon.
Preferably, the discrete collimated light beam aperiodicity arrangement of the multi beam is in another presetting shape.
Preferably, the aperiodicity arrangement includes any arrangement mode or the multiple arrangements that can mutually switch as follows
Mode:
Random arrangement；
Space encoding arrangement；
Quasi-crystalline lattice arrangement.
Preferably, the asynchronous discrete light beams projector includes the edge-emitting laser and light that multiple groups are arranged in an optical path
The beam projector；
The edge-emitting laser, for projecting laser to the beam projector；The beam projector, for that will enter
The laser projection penetrated goes out the discrete collimated light beam of multi beam；
By sequentially controlling the one group of side being arranged in optical path hair in chronological order within described one preset period
It penetrates laser and beam projector is opened to project the discrete collimated light beam of multi beam to the different zones of target object.
Electronic equipment provided by the invention further includes including the 3D imaging device based on asynchronous ToF discrete point cloud
Display panel；The asynchronous discrete light beams projector and the photodetector array imager are located at the display panel backlight
Side；
When the asynchronous discrete light beams projector within a preset period in chronological order sequentially to target object
When different zones project multi beam discrete collimated light beam, so that discrete collimated light beam described in multi beam is irradiated to mesh after penetrating display panel
It marks on object；
The photodetector array imager receive penetrate after the target object reflection multi beam of the display panel from
Collimated light beam is dissipated, and the propagation time of discrete collimated light beam according to multi beam obtains the depth of the multiple regions of the target object
Degree evidence, and then generate according to the depth data of the target object multiple regions depth data of the target object surface.
Compared with prior art, the present invention have it is following the utility model has the advantages that
The present invention is by the asynchronous discrete light beams projector in chronological order to target object within a preset period
Different zones project the discrete collimated light beam of multi beam, and photodetector array imager is enabled to obtain the multiple of the target object
The depth data in region generates the depth number of the target object surface according to the depth data of the target object multiple regions
According to, improve beam power density, signal-to-noise ratio and point cloud density between realize balance, so as to realize be directed to specific 3D at
As the precision and point Yun Midu optimized in application scenarios, and lower optical power can be kept in each projection, it can
Meet power consumption and the limitation of laser eye safety.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.Upon reading the detailed description of non-limiting embodiments with reference to the following drawings,
Other features, purposes and advantages of the invention will become more apparent:
Fig. 1 is the structural schematic diagram of the 3D imaging device based on synchronous ToF discrete point cloud in the embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of the asynchronous discrete light beams projector in the embodiment of the present invention；
Fig. 3 is another structural schematic diagram of the asynchronous discrete light beams projector in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of optical imaging lens in the embodiment of the present invention；
Fig. 5 (a), (b), the schematic diagram that (c) is the discrete collimated light beam periodic arrangement of multi beam in the embodiment of the present invention；And
Fig. 6 (a), (b), the schematic diagram that (c) is the discrete collimated light beam aperiodicity arrangement of multi beam in the embodiment of the present invention.
In figure:
1 is photodetector array imager；
2 be the asynchronous discrete light beams projector；
3 be target object；
101 be photodetector array；
102 be optical imaging lens；
201 be edge-emitting laser；
202 be beam projector；
203 be laser array；
204 be collimation camera lens；
205 be beam splitting device.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.In addition, connection can be for fixing
Effect is also possible to act on for circuit communication.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed
System is merely for convenience of the description embodiment of the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the embodiment of the present invention, the meaning of " plurality " is two or two
More than, unless otherwise specifically defined.
In the present invention, the present invention provides the half-way house of a kind of simple scan projective techniques and face light projection method,
The discrete collimated light beam of multi beam is projected simultaneously with a projector, is matched with ToF photodetector array, in single measurement
Can be obtained include multiple target point depth datas synchronization 3D point cloud.According to the demand of practical application, while the standard projected
The quantity of collimated optical beam can be several to be differed to tens of thousands of.The present invention can by control light beam quantity, under Same Efficieney,
It realizes beam power density (i.e. signal-to-noise ratio) and puts the tradeoff and optimization of cloud density.I.e. when number of beams is less, each point is obtained
Higher signal-to-noise ratio and precision are obtained, but puts cloud than sparse；When number of beams is more, point cloud is denser, but signal-to-noise ratio
With precision relative drop, but still be better than face light projection method.In order to improve point Yun Jingdu and density simultaneously, the present invention is adopted
With the method for asynchronous projection, the distribution of the light beam projected every time is relatively sparse, different in the distribution of the light beam of different moments projection,
To obtain the point cloud data of target object different zones.After the point cloud that multiple projection measurement obtains is spliced, it can obtain
Obtain opposite dense point cloud.It is directed to the precision optimized in specific 3D imaging applications scene and point Yun Midu so as to realize, and
And in each projection, lower optical power is kept, so as to meet the limitation of power consumption and laser eye safety.
Fig. 1 is the structural schematic diagram of the 3D imaging device based on synchronous ToF discrete point cloud in the present invention, as shown in Figure 1, this
The 3D imaging device based on synchronous ToF discrete point cloud that invention provides, for realizing provided by the invention discrete based on asynchronous ToF
The 3D imaging device of point cloud, including the asynchronous discrete light beams projector 2 and photodetector array imager 1；
The asynchronous discrete light beams projector 2 is used within a preset period in chronological order sequentially to object
The different zones of body 3 project the discrete collimated light beam of multi beam；
The photodetector array imager 1, it is discrete described in the multi beam through the target object 3 reflection for sequentially receiving
Collimated light beam and the propagation time for measuring discrete collimated light beam described in multi beam, and then the more of the target object 3 can be obtained
The depth data in a region generates the depth on 3 surface of target object according to the depth data of 3 multiple regions of target object
Degree evidence.
In an embodiment of the present invention, the preset period can be set to 10 milliseconds；The target object 3 is at least
Including first area and second area, so as to pass through one in the asynchronous discrete light beams projector 2 within a preset time period
Group laser projects the discrete collimated light beam of multi beam to the first area first, obtains the depth data of first area, then again
The discrete collimated light beam of multi beam is projected to the second area by another group of laser in the asynchronous discrete light beams projector 2, is obtained
The depth data for taking second area generates the object according to the depth data of the depth data of first area and second area
The depth data on 3 surface of body.The first area and the second area can be adjacent region, or be connected
Region.The first area and the second area can also include multiple random distributions with weave in, such as first area
The first subregion, second area includes multiple the second subregions for being randomly dispersed in the first subregion of arbitrary neighborhood gap.
The target object 3 described in variation may include multiple regions, such as three regions, four regions etc..
In an embodiment of the present invention, within multiple preset periods, the asynchronous discrete light beams projector 2
The discrete collimated light beam of multi beam sequentially is projected to the different zones of target object 3 in chronological order, generates multiple target objects 3
The depth data on surface, and then 3 table of target object according to the depth data grey iterative generation on multiple 3 surfaces of target object
The optimal depth data in face.
In an embodiment of the present invention, the present invention is pressed within a preset period by the asynchronous discrete light beams projector 2
Time sequencing projects the discrete collimated light beam of multi beam to the different zones of target object 3, enables photodetector array imager 1
The depth data for obtaining the multiple regions of the target object 3 is generated according to the depth data of 3 multiple regions of target object
The depth data on 3 surface of target object, improves beam power density, realizes between signal-to-noise ratio and point cloud density flat
Weighing apparatus is directed to the precision optimized in specific 3D imaging applications scene and point Yun Midu so as to realize, and can be each
When projection, lower optical power is kept, can satisfy power consumption and the limitation of laser eye safety.
It is core of the invention thought above, to keep the above objects, features and advantages of the present invention more obvious easily
Understand, following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is clearly and completely retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
In an embodiment of the present invention, the multi beam Discrete-time quasi in discrete shape that the asynchronous discrete light beams projector 2 projects
Collimated optical beam is reflected by target object 3, and the collimated light beam after part is reflected is received by photodetector array 101, each optical detection
Device can obtain corresponding light beam from being emitted to received flight time t, to obtain flying for collimated light beam by light velocity c
Row distance s=ct, so as to measure the depth information of each 3 surface location of target object irradiated by discrete light beams.This
The depth data point of a little discrete locations constructs the point cloud data that can reappear object 3D form, to realize for target object
3 3D imaging.Discrete collimated light beam described in the multi beam is tapered.
In an embodiment of the present invention, the quantity of the discrete collimated light beam of the multi beam is between two beams and tens of thousands of beams, such as 2 beams
To 100,000 beams.
In an embodiment of the present invention, the 3D imaging device provided by the invention based on asynchronous ToF discrete point cloud, including with
The driving circuit that the asynchronous discrete light beams projector 2 is connected with photodetector array imager 1.The driving circuit is asynchronous for controlling
The discrete light beams projector 2 and photodetector array imager 1 open or close simultaneously.
The driving circuit can be independent special circuit, such as Special SOC chip, fpga chip, asic chip etc.
Deng also may include general processor, such as when the depth camera is integrated into such as mobile phone, TV, in computer intelligent terminal
It goes, the processor in terminal can be used as at least one of the processing circuit
Fig. 2 be the present invention in the asynchronous discrete light beams projector a kind of structural schematic diagram, as shown in Fig. 2, it is described it is asynchronous from
The spreading beam projector 2 includes the edge-emitting laser 201 and beam projector 202 being arranged in an optical path；
The edge-emitting laser 201, for projecting laser to the beam projector 202；
The beam projector 202, for the incident laser is suitable in chronological order within a preset period
It is secondary to project the discrete collimated light beam of multi beam to the different zones of target object 3.
The beam projector 202 be provided with multiple groups light beam projection mouth, by within described one preset period on time
Between sequence control one group of light beam projection mouth sequentially to project the discrete collimated light beam of multi beam to the different zones of target object 3.Exist
In one preset period, every group of light beam projection mouth is opened once to project the discrete collimated light beam of multi beam, when one group of light beam is thrown
When loophole is opened, other group of light beam projection mouth is closed.The opening and closing of the light beam projection mouth can pass through electromagnetic drive or micro electric
Machine driving block is opened and closed.
In an embodiment of the present invention, can be realized will be from edge-emitting laser 201 for the beam projector 202
Incident light is divided into the function of any multi-beam collimation light beam.The direction of the launch of the edge-emitting laser 201 and light beam projection
The projecting direction of device 202 can be identical, at 90 degree or can also be any angle needed for Optical System Design.
In an embodiment of the present invention, since the inner surface of the beam splitting projector machined the optical chip of micro-nano structure simultaneously
Cooperate optical lens composition.The beam splitting projector, which can be realized to be divided into from the incident light of edge-emitting laser 201, appoints
The function of meaning multi-beam collimation light beam.The projecting direction of the direction of the launch of the edge-emitting laser 201 and the beam splitting projector
Can be identical, it at 90 degree or can also be any angle needed for Optical System Design.
In an embodiment of the present invention, the asynchronous discrete light beams projector 2 includes that the side in an optical path is arranged in multiple groups
Emitting laser 201 and beam projector 202；
The edge-emitting laser 201, for projecting laser to the beam projector 202；The beam projector
202, for the incident laser projection to be gone out the discrete collimated light beam of multi beam；
In an embodiment of the present invention, it is set by sequentially controlling one group in chronological order within described one preset period
Edge-emitting laser 201 and beam projector 202 in an optical path is set to open with more to the projection of the different zones of target object 3
The discrete collimated light beam of beam.I.e. within a preset period, every group of edge-emitting laser 201 and light beam being arranged in an optical path
The projector 202 is opened once to project the discrete collimated light beam of multi beam, when the edge-emitting laser that one group is arranged in an optical path
201 and beam projector 202 open when, edge-emitting laser 201 and beam projector 202 in an optical path is arranged in other groups
It closes.
Fig. 3 is another structural schematic diagram of the asynchronous discrete light beams projector in the present invention, as shown in figure 3, described asynchronous
The discrete light beams projector 2 includes the laser array 203 being arranged in an optical path, collimation camera lens 204 and beam splitting device 205；
The laser array 203, including multiple multiple lasers in array arrangement, multiple lasers are divided into more
A laser transmitting group passes sequentially through each laser transmitting group to the collimation in chronological order within a preset period
Camera lens 204 projects the laser of first order of magnitude；
The collimation camera lens 204, for the collimated light of first order of magnitude will to be emitted after incident multiple laser collimation
Beam；
The beam splitting device 205, for second order of magnitude will to be emitted after the collimated light beam beam splitting of the first incident order of magnitude
Collimated light beam；
Second order of magnitude is greater than first order of magnitude.
In an embodiment of the present invention, laser described in each laser or every group can individually control transmitting, from
And the not same district to target object 3 can be realized by the way that every group of laser transmitting laser will be controlled in a preset period
The projection of domain projection.The quantity of the laser transmitting group is consistent with the region quantity of the target object 3.
In an embodiment of the present invention, the laser array 203 can use multiple vertical cavity surface emitting lasers
(Vertical Cavity Surface Emitting Laser, VCSEL) or multiple side emitting laser (Edge
Emitting Laser, EEL) composition.Multiple laser can become the parallel collimated light beam of height after collimating camera lens 204.
More collimated lights can be realized using beam splitting device 205 according to the demand of discrete light beams quantity according in practical application
Beam.The beam splitting device 205 can use diffraction grating (DOE) and spatial light modulator (SLM) etc..
Fig. 4 is the structural schematic diagram of optical imaging lens in the present invention, as shown in figure 4, the photodetector array is imaged
Device 1 includes optical imaging lens 102, photodetector array 101 and driving circuit；
The photodetector array 101 includes multiple optical detectors in array distribution, multiple optical detector transmittings
Group is divided into multiple optical detector groups, and each optical detector group is corresponding with a laser transmitting group；
The optical detector group, for receiving after corresponding laser transmitting group emits through the target object 3 reflection
Collimated light beam；
The optical imaging lens 102 are used for so that entering photodetector array through the optical imaging lens 102
The direction vector and optical detector of 101 collimated light beam are in one-to-one relationship；
The driving circuit, for measuring the propagation time of discrete collimated light beam described in multi beam and generating the mesh in turn
The depth data of the multiple regions on 3 surface of object is marked, and then institute is generated according to the depth data of 3 multiple regions of target object
State the depth data on 3 surface of target object.
In an embodiment of the present invention, the optical detector group and the laser transmitting group are corresponded, i.e., each
Spatial relationship between detector and the collimated light beam of projection by calibration accurately to it is corresponding when in asynchronous mode, can beat
The corresponding optical detector group of laser group for opening the collimated light beam that one projects closes other optical detector groups, thus
It can reduce the power consumption and system noise interference of optical detector.The area of the quantity of the optical detector group and the target object 3
Domain quantity is consistent.
In an embodiment of the present invention, it for filter background noise, is usually also equipped in the optical imaging lens 102 narrow
Band optical filter, so that the photodetector array 101 is only capable of the incident collimated light beams by preset wavelength.The preset wave
Length can be the wavelength of incident collimated light beams, or be less than 50 nanometers of incident collimated light beams and be greater than incident collimated light beams 50
Between nanometer.The photodetector array 101 can be in period or no periodic array.Each optical detector and auxiliary circuit
The flight time that alignment collimated optical beam may be implemented in cooperation measures.According to the demand of discrete collimated light beam quantity, optical detector
The combination that array 101 can be multiple single-point optical detectors is either integrated with the sensor chip of multiple optical detectors for one.
In order to advanced optimize the sensitivity of optical detector, irradiation hot spot of the discrete collimated light beam on target object 3 can be right
Answer one or more optical detector.When multiple optical detectors correspond to the same irradiation hot spot, the signal of each detector can
To pass through circuit communication, thus the bigger optical detector of detection area can be merged into.
In one embodiment of this invention, the discrete collimated light beam periodic arrangement of the multi beam is in a presetting shape,
It is distributed in geometry rule.
Fig. 5 (a), (b), the schematic diagram that (c) is the discrete collimated light beam periodic arrangement of multi beam in the present invention, as shown in figure 5,
In one embodiment of this invention, the presetting shape includes following any shape or the multiple shapes that can mutually switch
Shape:
Linear
Triangle；
Quadrangle；
Rectangle；
It is round；
Hexagon；
Pentagon.
Wherein, the shape of the discrete collimated light beam periodic arrangement of the multi beam is not limited to above-mentioned shape, and can also arrange is in
Other shapes.As shown in Fig. 5 (a), when presetting shape is rectangle, i.e., collimated light beam unit in one cycle is arranged
Shape is rectangle, and be repeated cyclically in space.As shown in Fig. 5 (b), when presetting shape is triangle, i.e.,
The unit arrangement shape of collimated light beam in one cycle is triangle, and is repeated cyclically in space.Such as Fig. 5 (c)
Shown, when presetting shape is hexagon, i.e., collimated light beam unit arrangement shape in one cycle is six sides, and
It is repeated cyclically in space.Since the present invention is limited to optical system, arrangement of the practical collimated light beam in section when realizing
There may be distortion, for example occur to stretch, distort etc..And the Energy distribution of each collimated light beam in cross section can be it is round,
Persons' other shapes such as annulus or ellipse.In this arrangement mode as figure 5 illustrates, it is beneficial to simplify the discrete collimated light beam of multi beam
With the spatial correspondence of photodetector array 101.
In one embodiment of this invention, the discrete collimated light beam aperiodicity arrangement of the multi beam is in another presetting shape
Shape.
In one embodiment of this invention, the aperiodicity arrangement includes following any arrangement mode or can mutually cut
That changes appoints multiple arrangement modes:
Random arrangement；
Space encoding arrangement；
Quasi-crystalline lattice arrangement.
Wherein, the shape of the discrete collimated light beam aperiodicity arrangement of the multi beam is not limited to above-mentioned shape, can also arrange
In other shapes.As shown in Fig. 6 (a), space encoding arrangement, specially in periodic arrangement, default a part
Light beam is not only restricted to example in Fig. 6 (a) in the coding that can actually use to realize the space encoding of arrangement position；Such as figure
Shown in 6 (b), the random arrangement, specially the arrangement random distribution of collimated light beam, so that the phase of the arrangement mode of different location
Like property very little or close to zero, as shown in Fig. 6 (c), the quasi-crystalline lattice arrangement, specially collimated light beam is in short distance adjacent bit
Aperiodicity arrangement is set, in remote periodic arrangement.Since the present invention is limited to optical system, practical collimated light when realizing
There may be distortion for arrangement of the beam in section, for example occur to stretch, distort etc..And the energy of each collimated light beam in cross section point
Cloth can be persons' other shapes such as round, annulus or ellipse.In this arrangement mode as indicated with 6, this be placed with is conducive to
To the uniform sampling of non-determined target, optimize the effect of final 3D depth map.
In one embodiment of this invention, the optical detector is using following any optical sensor:
- CMOS optical sensor；
- CCD optical sensor；
- SPAD optical sensor.
Wherein, the model selection of the optical detector is not limited to above-mentioned optical sensor, may also comprise other kinds of light
Sensor.
In the present embodiment, electronic equipment provided by the invention, including the 3D based on asynchronous ToF discrete point cloud at
It further include display panel as device；The asynchronous discrete light beams projector and the photodetector array imager are located at described
Display panel backlight side；
When the asynchronous discrete light beams projector 2 within a preset period in chronological order sequentially to target object 3 not
With the discrete collimated light beam of region project multi beam, so that discrete collimated light beam described in multi beam is irradiated to object after penetrating display panel
On body 3；
The photodetector array imager 1 receives the multi beam that the display panel is penetrated after the target object 3 reflects
Discrete collimated light beam, and the propagation time of discrete collimated light beam according to multi beam obtains the multiple regions of the target object 3
Depth data, and then generate according to the depth data of 3 multiple regions of target object the depth on 3 surface of target object
Data.
In an embodiment of the present invention, the photodetector array imager 1 ensure that the discrete collimated light of the multi beam of projection
The spatial position corresponding relationship of beam and photodetector array 101.So that each optical detector in photodetector array 101
The propagation time of light is measured in a manner of using the ToF in Time Continuous modulation light beam or pulse, and then is counted by the light velocity
Calculate the distance of light propagation.
ToF method based on pulse is also referred to as direct ToF method, specifically: the optical detector can be delicately
The waveform for detecting a light pulse obtains collimated light beam in asynchronous discrete light beams then compared with the launch time of light pulse
The time propagated between the projector 2 and photodetector array imager 1.In such method, common optical detector has single photon
Avalanche diode (SPAD).Single-photon avalanche diode can be very sensitive and counts at high speed to the photon of light pulse.
The photon numbers of different time are counted i.e. in burst length window, recover the overall waveform of pulse.ToF based on pulse
Method is relatively low for the power consumption requirements of the projector, and is conducive to exclude the interference of multipath light beam.
ToF method based on Time Continuous modulation light beam is also known as indirect ToF method.Specifically: the time
Continuous modulation generallys use sine wave modulation mode, and the optical detector can be realized in such a way that CMOS or CCD are photosensitive,
Under high frequency modulation, the continuous collimated light beam that emits is reflected to target object 3 through target object 3 the asynchronous discrete light beams projector 2
Afterwards, it is received by photodetector array 101.The collimated light beam of each optical detector record transmitting and the phase of received collimated light beam
Variation, so as to obtain the depth information of 3 surface location of target object.Due to the side ToF based on Time Continuous modulation light beam
Method is energy integral process, can be higher compared to pulsed measurement accuracy, and not requiring light source must be high intensity pulses in short-term, can
To use different types of light source, different modulator approaches can be used.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.To the upper of the disclosed embodiments
It states bright, enables those skilled in the art to implement or use the present invention.Various modifications to these embodiments are to ability
Will be apparent for the professional technician in domain, the general principles defined herein can not depart from it is of the invention
In the case where spirit or scope, realize in other embodiments.Therefore, the present invention be not intended to be limited to it is shown in this article these
Embodiment, and it is to fit to the widest scope consistent with the principles and novel features disclosed herein.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (10)
1. a kind of 3D imaging device based on asynchronous ToF discrete point cloud, which is characterized in that including the asynchronous discrete light beams projector and
Photodetector array imager；
The asynchronous discrete light beams projector, within a preset period in chronological order sequentially to target object not
With the discrete collimated light beam of region project multi beam；
The photodetector array imager, for sequentially receiving discrete collimated light described in the multi beam reflected through the target object
Beam and the propagation time for measuring discrete collimated light beam described in multi beam, and then the multiple regions of the target object can be obtained
Depth data generates the depth data of the target object surface according to the depth data of the target object multiple regions.
2. the 3D imaging device according to claim 1 based on asynchronous ToF discrete point cloud, which is characterized in that described asynchronous
The discrete light beams projector includes the edge-emitting laser and beam projector being arranged in an optical path；
The edge-emitting laser, for projecting laser to the beam projector；
The beam projector, for by the incident laser within a preset period in chronological order sequentially to target
The different zones of object project the discrete collimated light beam of multi beam.
3. the 3D imaging device according to claim 1 based on asynchronous ToF discrete point cloud, which is characterized in that described asynchronous
The discrete light beams projector includes the laser array being arranged in an optical path, collimation camera lens and beam splitting device；
The laser array, including multiple multiple lasers in array arrangement, multiple lasers are divided into multiple laser
Device transmitting group passes sequentially through each laser transmitting group in chronological order within a preset period and throws to the collimation camera lens
Penetrate the laser of first order of magnitude；
The collimation camera lens, for the collimated light beam of first order of magnitude will to be emitted after incident multiple laser collimation；
The beam splitting device, for the collimated light of second order of magnitude will to be emitted after the collimated light beam beam splitting of the first incident order of magnitude
Beam；
Second order of magnitude is greater than first order of magnitude.
4. the 3D imaging device according to claim 3 based on asynchronous ToF discrete point cloud, which is characterized in that the light is visited
Surveying device array imager includes optical imaging lens, photodetector array and driving circuit；
The photodetector array includes multiple optical detectors in array distribution, and multiple optical detector transmitting groups are divided into more
A optical detector group, each optical detector group are corresponding with a laser transmitting group；
The optical detector group, for receiving the collimated light reflected after corresponding laser transmitting group transmitting through the target object
Beam；
The optical imaging lens, for so that entering the collimated light of photodetector array through the optical imaging lens
The direction vector and optical detector of beam are in one-to-one relationship；
The driving circuit, for measuring the propagation time of discrete collimated light beam described in multi beam and generating the object in turn
The depth data of the multiple regions in body surface face, and then the target is generated according to the depth data of the target object multiple regions
The depth data of body surface.
5. the 3D imaging device according to claim 1 based on asynchronous ToF discrete point cloud, which is characterized in that the multi beam
Discrete collimated light beam periodic arrangement is in a presetting shape.
6. the 3D imaging device according to claim 5 based on asynchronous ToF discrete point cloud, which is characterized in that described default
Fixed shape includes following any shape or the multiple shapes that can mutually switch:
Linear
Triangle；
Quadrangle；
Rectangle；
It is round；
Hexagon；
Pentagon.
7. the 3D imaging device according to claim 1 based on asynchronous ToF discrete point cloud, which is characterized in that the multi beam
Discrete collimated light beam aperiodicity arrangement is in another presetting shape.
8. the 3D imaging device according to claim 7 based on asynchronous ToF discrete point cloud, which is characterized in that the non-week
The arrangement of phase property includes following any arrangement mode or the multiple arrangement modes that can mutually switch:
Random arrangement；
Space encoding arrangement；
Quasi-crystalline lattice arrangement.
9. the 3D imaging device according to claim 1 based on asynchronous ToF discrete point cloud, which is characterized in that described asynchronous
The discrete light beams projector includes the edge-emitting laser and beam projector that multiple groups are arranged in an optical path；
The edge-emitting laser, for projecting laser to the beam projector；The beam projector, for will be incident
The laser projection goes out the discrete collimated light beam of multi beam；
Swashed by sequentially controlling the edge emitting that one group is arranged in an optical path in chronological order within described one preset period
Light device and beam projector are opened to project the discrete collimated light beam of multi beam to the different zones of target object.
10. dress is imaged including the described in any item 3D based on asynchronous ToF discrete point cloud of claim 1 to 9 in a kind of electronic equipment
It sets, which is characterized in that further include display panel；The asynchronous discrete light beams projector and photodetector array imager position
In the display panel backlight side；
When the asynchronous discrete light beams projector within a preset period in chronological order sequentially to the difference of target object
When the discrete collimated light beam of region project multi beam, so that discrete collimated light beam described in multi beam is irradiated to object after penetrating display panel
On body；
The photodetector array imager receives the multi beam Discrete-time quasi that the display panel is penetrated after the target object reflects
Collimated optical beam, and the propagation time of discrete collimated light beam according to multi beam obtains the depth number of the multiple regions of the target object
According to, and then generate according to the depth data of the target object multiple regions depth data of the target object surface.
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| PCT/CN2020/087137 WO2020221185A1 (en) | 2019-04-30 | 2020-04-27 | Asynchronous tof discrete point cloud-based 3d imaging apparatus, and electronic device |
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