CN110244309A - The detection system and method for depth - Google Patents
The detection system and method for depth Download PDFInfo
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- CN110244309A CN110244309A CN201910544453.3A CN201910544453A CN110244309A CN 110244309 A CN110244309 A CN 110244309A CN 201910544453 A CN201910544453 A CN 201910544453A CN 110244309 A CN110244309 A CN 110244309A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring 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
Abstract
This application provides a kind of detection system of depth and methods.The detection system, comprising: light supply apparatus, for emitting modulation light；First polarization device obtains multiple analyzing light for carrying out analyzing on multiple polarization directions to the modulation light by measurand reflection；Imaging device, positioned at the side of the first polarization device, imaging device is used to form image according to incident inspection polaroid imaging；Processing unit, at least for the depth according to the phase difference calculating measurand between analyzing light component in a first direction and corresponding modulation light, wherein first direction is the smallest polarization direction of light intensity of analyzing light.The depth of measurand can be more accurately detected in the detection system.
Description
Technical field
This application involves building depth image fields, in particular to the detection system and method for a kind of depth.
Background technique
Flight time (Time of flight, abbreviation TOF) ranging is a kind of by TOF sensor estimation scene reflectivity light
Time or the phase change of imaging lens are returned to construct the technology of depth map.In current phone field be for AR,
The important technology of the bio-identifications such as the virtual reality experiences such as VR and recognition of face application.
TOF device generally comprises light source and sensing camera, wherein light source is used to emit pulsed light or continuous to scene
Light.The light that light source is emitted reflects back into sensing camera from target object.In this course, light reaches object from light source
Perhaps phase change time difference or phase difference will reflect target object the time difference that body returns to sensing camera from target object again
In each position distance, that is, depth information.The image that depth information combination traditional camera is shot can construct
3D model, or the faceform for bio-identification of target object etc..
Method using TOF building depth image has hardware cost and power consumption lower, the fast advantage of reaction speed, but its
The defects such as it is short that there is also detecting distances, and depth detection precision is low and resolution ratio is low.
Disclosed information above is used only to reinforce the background technique to technology described herein in the background section
Understanding may include therefore certain information in background technique, these information are to those skilled in the art and not formed
The home known prior art.
Summary of the invention
The main purpose of the application is to provide the detection system and method for a kind of depth, to solve depth in the prior art
Detection system be difficult to the problem of accurately obtaining the depth of measurand.
To achieve the goals above, according to the one aspect of the application, a kind of detection system of depth is provided, comprising:
Light supply apparatus, for emitting modulation light；First polarization device, for the modulation light to process measurand reflection multiple
Analyzing is carried out on polarization direction obtains multiple analyzing light；Imaging device, positioned at the side of first polarization device, the imaging
Equipment is used to form image according to the incident inspection polaroid imaging；Processing unit, at least for according to the analyzing light the
The depth of measurand described in the phase difference calculating between component and the corresponding modulation light on one direction, wherein described
First direction is the smallest polarization direction of light intensity of the analyzing light.
Further, the detection system further include: the second polarization device, it is described positioned at the side of the light supply apparatus
Second polarization device is used to the polarization state of the modulation light being adjusted to unpolarized state, circular polarization state, elliptical polarization shape
State or linear polarization state.
Further, the light supply apparatus is for emitting a variety of modulation lights, the launch time of a variety of modulation lights
Section is spaced apart from each other.
Further, each modulation light is the light of unpolarized state, in the processing unit according to a modulation
After light determines the first direction, second polarization device be also used to other modulation lights being adjusted to polarization direction be
The polarised light of the first direction.
Further, second polarization device be also used to the first direction of at least one the analyzing light light intensity and
In the case that the ratio of the light intensity of second direction is greater than predetermined threshold, increase other modulation lights in said first direction
Light intensity, the second direction be the maximum polarization direction of the analyzing light light intensity.
Further, second polarization device is adjusted to the different polarization states to the different modulation lights.
Further, in a variety of modulation lights, the amplitude of the biggish modulation light of frequency is less than the lesser institute of frequency
State the amplitude of modulation light.
Further, the processing unit includes: acquisition module, for obtaining described in adjacent in time any two kinds
Second ratio of the first ratio of the amplitude of modulation light and the amplitude of corresponding two kinds of reflected lights, the reflected light are described
The modulation light of measurand reflection；Computing module, in the difference of first ratio and second ratio in predetermined model
In the case where in enclosing, using the depth of measurand described in corresponding two kinds of modulation lights and the corresponding analyzing optical oomputing.
Further, the light supply apparatus includes VCSEL laser, and the VCSEL laser emission wavelength range exists
Laser between 800nm-950nm.
To achieve the goals above, according to the one aspect of the application, a kind of detection method of depth is provided, the detection
Method includes: transmitting modulation light；Analyzing is carried out on multiple polarization directions to the modulation light by measurand reflection to obtain
To multiple analyzing light；According to the incident inspection polaroid imaging, image is formed；According to point of the analyzing light in a first direction
It measures and the depth of measurand described in the phase difference calculating between the corresponding modulation light, wherein the first direction is institute
State the smallest polarization direction of light intensity of analyzing light.
Using the technical solution of the application, in above-mentioned depth detection system, the first polarization device is to by measurand
Modulation light after reflection carries out analyzing, obtains multiple analyzing light, and then can detecte the corresponding the smallest polarization direction of light intensity,
Imaging device is used to form image, processing unit can be according to the analyzing light first according to the incident inspection polaroid imaging
The phase difference of component and corresponding modulation light on direction calculates the depth of measurand, and the analyzing light in this way can will pass through
Component on other directions of Multipath reflection excludes, i.e., the component in other directions is not used to calculate depth, multiple reflections due to
Randomness and be isotropic for any polarization direction, since the component of the most weak polarization direction of reflected light is with multiple
Reflection, the light intensity of loss is more, and therefore, the component of the direction compares the component of the strongest polarization direction of reflected light, repeatedly anti-
The accounting for penetrating component is lower, so, the depth obtained according to the phase difference calculating of the part light and corresponding modulation light is compared with subject to
Really, avoiding the depth is the sum by the depth of multiple reflections.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 shows a kind of structural schematic diagram of embodiment of the detection system of the depth according to the application；
Fig. 2 shows the structural schematic diagrams according to another embodiment of the detection system of the depth of the application；
Fig. 3 shows the flow diagram of the embodiment of the detection method of the depth according to the application；And
Fig. 4 shows the structural schematic diagram of the embodiment of the equipment of the application.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
It should be understood that when element (such as layer, film, region or substrate) is described as at another element "upper", this yuan
Part can be directly on another element, or intermediary element also may be present.Moreover, in specification and claims, when
When description has element " connected " to another element, which " can be directly connected to " to another element, or pass through third element
" connected " to another element.
As described in background technique, the detection system of depth in the prior art is difficult to accurately detect measurand
Depth, one of reason be detection process in, there is Multipath reflection in light, i.e., light is by multiple tables of measurand
Face reflection is just detected, and such problems eventually results in the depth of measurand as the sum of the depth of multiple reflections, is greater than
The actual distance of measurand causes the problem of testing result inaccuracy, and in order to solve technical problem as above, the application is provided
The detection system and method for a kind of depth.
In the first embodiment of the application, a kind of detection system of depth is provided, as shown in Figure 1, the detection system 02
Include:
Light supply apparatus 10, for emitting modulation light；
First polarization device 30, for enterprising in multiple polarization directions to the above-mentioned modulation light reflected by measurand 01
Row analyzing obtains multiple analyzing light；
Imaging device 40, positioned at the side of above-mentioned first polarization device 30, above-mentioned imaging device 30 is used for according to incidence
Above-mentioned inspection polaroid imaging forms image, is specifically as follows analyzing light and is imaged in multiple pixels of imaging device；
Processing unit 50, at least for according to above-mentioned analyzing light component in a first direction and corresponding above-mentioned modulation light
Between phase difference calculating measurand depth, wherein above-mentioned first direction is the smallest above-mentioned polarization direction of light intensity, practical
On, the image that processing unit can be formed according to imaging device obtains the light intensity of corresponding analyzing light in a first direction, thus according to
Light intensity determines its corresponding phase, and then the depth of measurand is determined according to the phase difference of the phase and modulation light.
In above-mentioned depth detection system, the first polarization device examines the modulation light after measurand reflects
Partially, multiple analyzing light are obtained, and then can detecte the corresponding the smallest polarization direction of light intensity, imaging device is used for according to incidence
Above-mentioned inspection polaroid imaging, form image, processing unit can be according to the component of the analyzing light in a first direction and corresponding
The phase difference of modulation light calculates the depth of measurand, and the analyzing light in this way can will be by other directions of Multipath reflection
On component exclude, i.e., do not use other directions component calculate depth, multiple reflections are due to randomness and for any polarization
Direction is isotropic, and since the component of the most weak polarization direction of reflected light is with multiple reflection, the light intensity of loss is more,
Therefore, the component of the direction compares the component of the strongest polarization direction of reflected light, and the accounting of multiple reflections component is lower, institute
With the depth obtained according to the phase difference calculating of the part light and corresponding modulation light is more accurate, avoids the depth to pass through
The sum of the depth of multiple reflections.
Above-mentioned processing unit includes processor and memory, and processing unit stores in memory as program unit,
Above procedure unit stored in memory is executed by processor to realize corresponding function.
Include kernel in processor, is gone in memory to transfer corresponding program unit by kernel.Kernel can be set one
Or more, the depth of measurand is calculated by adjusting kernel parameter.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, if read-only memory (ROM) or flash memory (flash RAM), memory include that at least one is deposited
Store up chip.
For example, emergent light P component with S component in the case where identical and vertical incidence and backtracking imaging device,
The P component of reflected light is slightly decreased, and S component is constant, and the two is still essentially identical, and passes through P component/S after Multipath reflection
The ratio of component can be reduced to scheduled threshold value or less 90%, and 80%, 70% ....Picture is incident on after Multipath reflection
The light of element is more, then the ratio will be lower, if it is determined that after P component, the meter that P component carries out depth can be used only
Calculate, P component can gradually weaken after Multipath reflection, and the P component of individual reflection imaging will not, therefore compared to using S
The mixing of component or S and P component calculates, and can reduce Multipath reflection naturally to depth measurement knot using only P component
The interference of fruit.In addition, the ratio of P component is higher, then the effect for eliminating Multipath reflection influence is more obvious, can be by constantly surveying
The polarization state or polarization angle for measuring to determine a modulation light of most suitable current scene.
In the second embodiment of the application, said detecting system further includes the second polarization device 20, as shown in Fig. 2, second
Polarization device 20 is located at the side of above-mentioned light supply apparatus 10, and above-mentioned second polarization device 20 is used for the polarization shape of above-mentioned modulation light
State is adjusted to unpolarized state, circular polarization state, elliptical polarization state or linear polarization state.Can be further ensured that in this way by
The modulation light of second polarization device has the polarization point in projectable to the direction S or the direction P of the various reflectings surface of measurand
Amount.
In order to further increase the accuracy of the detection system, in the 3rd embodiment of the application, above-mentioned light supply apparatus is used
In emitting a variety of above-mentioned modulation lights, the launch time section of a variety of above-mentioned modulation lights is spaced apart from each other.Utilize more modulation light and correspondence
Analyzing light first direction on the available multiple depth of component, can more accurately be determined using this multiple depth tested
The depth of object.Specifically, in actual application process, since the calculation formula of depth isWherein, θ is phase
Potential difference corresponds to available one group of depth value according to a kind of modulation light of the formula, multiple available multiple groups depth values of modulation light,
Identical value can be determined as the depth of measurand in multiple groups depth value.For example, working as λ=2m, when θ=π, predetermined depth can
Think 0.5m, 1.5m, 2.5m ..., as λ=3m, θ=2 π, predetermined depth can for 1.5m, 3m, 4.5m ..., compare to obtain
Identical predetermined depth has 1.5m, 4.5m and 7.5m etc., in order to reduce measurand predetermined depth identical value, should also increase
Add one or two kinds of modulation light, to determine the depth of measurand.
In actual application process, processing unit needs first to determine phase difference, then could be according to phase difference calculating pair
The depth for the measurand answered, in general, the wave function of modulation light be it is known, i.e. the phase of modulation light be it is known,
Assuming that it is phase difference that the formula of the wave function of modulation light, which is r (x)=sin2 π fx, θ, then the formula of the wave function of analyzing light
It can be r (x)=C1+C2Sin (2 π fx+ θ), wherein x indicates the independent variable time, and known variables C1, C2, θ therefore can be with
Unknown quantity C1, C2, θ are solved by least measuring three times, so that phase difference θ be calculated.
In actual detection process, in the fourth embodiment of the application, the launch time section of various above-mentioned modulation lights is big
In or be equal to 100T, wherein T be corresponding above-mentioned modulation light period, the different corresponding T-phase of above-mentioned modulation light with or not
Together, obtaining each above-mentioned phase difference includes: to receive various reflected lights within each period of above-mentioned reflected light with predetermined time interval t
At least three times, T/4≤t≤T/3；At least various above-mentioned above-mentioned phase differences of reflection optical oomputing three times based on the received, can pass through
At least measurement is three times to solve unknown quantity C1, C2, θ, so that phase difference θ be calculated.
In above-mentioned scheme, predetermined time interval t is less than or equal to 1/3 can protecting for the cycle T of the wave function of modulation light
Card receives reflected light at least three times in transmitting duration, and predetermined time interval t is more than or equal to the cycle T of the wave function of modulation light
1/4 can guarantee that the light intensity r (x) of received reflected light is different from, avoid the light intensity r (x) of received reflected light identical or
It is close, improve the accuracy of phase difference calculating.By at least the wave function of received reflected light is analyzed three times, can obtain
The value of at least three groups of time point x light intensity r (x) corresponding with its substitutes into formula r (x)=C1+C2In sin (2 π fx+ θ), calculate
Obtain phase difference θ.
In the 5th embodiment of the application, each above-mentioned modulation light be unpolarized state light, above-mentioned processing unit according to
After one above-mentioned modulation light determines above-mentioned first direction, above-mentioned second polarization device is also used to adjust other above-mentioned modulation lights
It is the polarised light of above-mentioned first direction for polarization direction.Pass through the second polarization device in this way for the polarization direction of other modulation lights
It is adjusted to first direction, other such as influences to testing result such as environment light are further avoided, to further ensure
The accuracy of the detection system.
In a kind of specific embodiment, can measure under circular polarization or unpolarized state can be by the P of reflections affect points
The direction of amount, the second polarization device adjusts the polarization direction of above-mentioned analyzing light later, is adjusted to elliptical polarization state or line is inclined
Vibration state, thus the predominant direction of polarization is corresponding with the P component, and then improve the effect for eliminating Multipath reflection, it is ensured that
The accuracy of detection.
In the sixth embodiment of the application, above-mentioned second polarization device is also used to the first of at least one above-mentioned analyzing light
In the case that the ratio of the light intensity of the light intensity and second direction in direction is greater than predetermined threshold, increase other above-mentioned modulation lights upper
The light intensity on first direction is stated, above-mentioned second direction is the maximum above-mentioned polarization direction of light intensity of above-mentioned analyzing light.If most weak
Intensity/most intensity is higher, such as close to 1, then may be in more dominant or scene for the pixel S component of the part
Reflection shortage advantage direction, the case where for using linearly polarized light or elliptical polarization, P points can be made with rotatory polarization direction
It measures bigger.Ideally, P component is 100%, and is transmitted after multiple reflections, then the reflection of multipath is complete
It eliminates, when depth measurement, remaining all P components were what individual reflection returned.
In a kind of specific embodiment, above-mentioned first direction is the direction of P component, and second direction is the direction of S component, but
It is, since the definition that different reflectings surface will lead to S component and P component is also different, such as mutually perpendicular reflecting surface two corresponding
Component will be on the contrary, the reflected light therefore received for each pixel, the polarization direction of the P component lost be possible and different
It causes.Therefore, the first direction of the application and second direction are not limited to the component in the direction P and the component in the direction S, in this way for whole
The different pixels of a image, the loss for only investigating its degree of polarization relative to emergent light either changes, rather than considers that some is solid
Determine the size of the loss or variation on polarization direction.But for most of actual scene, because of the reflecting surface many places of object
In vertical direction, even if the direction for limiting P component and S component is also to have effect.
In order to further increase the accuracy of detection system detection, in the 7th embodiment of the application, above-mentioned second partially
Vibration equipment is adjusted to different above-mentioned polarization states to different above-mentioned modulation lights.
In order to enable the detection system can be suitable for the detection of the measurand of different depth, the detection system ensure that
The detection that can be adapted for the measurand of multiple and different depth allows the system to be widely used in several scenes.
In the 8th embodiment of the application, in a variety of above-mentioned modulation lights, it is smaller that the amplitude of the biggish above-mentioned modulation light of frequency is less than frequency
Above-mentioned modulation light amplitude.
In the 9th embodiment of the application, above-mentioned processing unit includes obtaining module and computing module, wherein obtains module
For obtain the amplitude of any two kinds of above-mentioned modulation lights adjacent in time the first ratio and corresponding two kinds of reflected lights
Amplitude the second ratio, above-mentioned reflected light is the above-mentioned modulation light reflected by above-mentioned measurand；Computing module is above-mentioned
The difference of one ratio and above-mentioned second ratio within a predetermined range in the case where, using corresponding two kinds of modulation lights and corresponding
The difference of the depth of the above-mentioned above-mentioned measurand of analyzing optical oomputing, i.e., other first ratios and the second ratio is not in preset range
Corresponding modulation light, be not used to calculate depth.The difference of first ratio and the second ratio just illustrates outer within a predetermined range
Situations such as environment light on boundary is weaker, and modulation light is not shaken can be further ensured that the detection system obtained in this way
The accuracy of testing result.
It should be noted that the first ratio of the application and the difference of the second ratio just refer to that the first ratio subtracts the second ratio
The calculated result that value obtains.
In actual application process, the difference of the first ratio and the second ratio may not within the predefined range, in order to protect
Card such case can also obtain accurate detection as a result, in the tenth embodiment of the application, in above-mentioned first ratio and above-mentioned the
In the case that the difference of two ratios is not in above-mentioned preset range, light supply apparatus is adjusted in the frequency and amplitude of above-mentioned modulation light
One.
Certainly, in actual application process, it sometimes will appear the too strong situation of environment light, at this time corresponding first
The difference of ratio and the second ratio is larger, greater than the maximum value of preset range, that is, is greater than the first predetermined threshold, in order in this feelings
Under condition, guarantee the accurate fixed of testing result, in the 11st embodiment of the application, light supply apparatus increases the vibration of above-mentioned modulation light
Width keeps the frequency of above-mentioned modulation light constant.It is constant by keep frequency in this way, increase the mode of amplitude to improve reflection signal
Relative to the intensity of background, to reduce error, guarantee the accuracy of testing result.
Certainly, sometimes the difference of the first ratio and the second ratio is also possible to the minimum value less than preset range, i.e., small
In the second predetermined threshold, such case may be since the equipment for issuing modulation light is shaken or measurand is moved
Situations such as dynamic, in order to further ensure the accuracy of detection in this case, in the 12nd embodiment of the application, light source dress
The frequency for increasing above-mentioned modulation light is set, keeps the amplitude of above-mentioned modulation light constant.The higher modulation light of frequency can be passed through in this way
Come reduce shake etc. caused by error, further ensure the accuracy of detection.
In addition, it is necessary to explanation, the difference of corresponding first ratio of above-mentioned modulation light and the second ratio after adjusting is still
In the case where the first predetermined threshold, light supply apparatus continues to increase the amplitude of modulation light, until the first ratio and the second ratio
Difference within a predetermined range.The difference of corresponding first ratio of modulation light after adjustment and the second ratio is pre- still less than second
In the case where determining threshold value, light supply apparatus continues to increase the frequency of modulation light, until the difference of the first ratio and the second ratio is pre-
Determine in range.
In order to reduce the influence of environment light, the accuracy of detection is further increased, in the 13rd embodiment of the application, on
Stating light supply apparatus includes VCSEL laser, and above-mentioned VCSEL laser emission wavelength range is sharp between 800nm-950nm
Light.
In the 14th embodiment of the application, above-mentioned light supply apparatus includes light source and modulation unit, wherein light source is for sending out
Penetrate predetermined light；Modulation unit is located at the side of above-mentioned light source, for being modulated to above-mentioned predetermined light, obtains a variety of above-mentioned modulation
Light.
Certainly, light supply apparatus is also not limited to above-mentioned structure, can also include multiple lasers, and multiple lasers issue
Different modulation lights, that is, arrive frequency difference and amplitude is different.
Above-mentioned modulation unit may include a series of drive control circuit, A/D conversion circuit, amplifying circuit etc. to incite somebody to action
The output of laser is modulated to fixed frequency, such as 1-1000MHz range.
The imaging device of the application includes the array of two-dimensional pixel, can be CMOS, image device well known to CCD etc.,
In each pixel spatial point different in scene is imaged, cannot also include the narrow band filter slice etc. being equipped with.
The processing unit of the application is used to calculate phase difference according to above-mentioned TOF principle and calculates depth, can be any
Professional or general processor, controller etc..
In addition, the detection system of the application can also include the sensors such as ambient light sensor, range sensor with basis
Specifically used environment adjusts used modulation amplitude and frequency.
In the 15th embodiment of the application, a kind of detection method of depth is provided, as shown in figure 3, above-mentioned detection side
Method includes:
Step S101 emits modulation light；
Step S102, to by measurand reflection above-mentioned modulation light carried out on multiple polarization directions analyzing obtain it is more
A analyzing light；
Step S103 forms image according to incident above-mentioned inspection polaroid imaging；
Step S104, according at least between the component of above-mentioned analyzing light in a first direction and corresponding above-mentioned modulation light
The depth of phase difference calculating measurand, wherein above-mentioned first direction is the smallest above-mentioned polarization direction of light intensity, above-mentioned analyzing light
For the light intensity in the light intensity and second direction of above-mentioned first direction ratio be greater than predetermined ratio above-mentioned analyzing light, above-mentioned second
Direction is the maximum above-mentioned polarization direction of light intensity of above-mentioned analyzing light.
In above-mentioned depth detection method, analyzing is carried out to the modulation light after measurand reflects, obtains multiple inspections
Polarisation, and then can detecte the corresponding the smallest polarization direction of light intensity, according to incident above-mentioned inspection polaroid imaging, form figure
Picture, it is subsequent measurand to be calculated according to the component of the analyzing light in a first direction and the phase difference of corresponding modulation light
Depth, in this way the analyzing light can will by Multipath reflection other directions on component exclude, i.e., not use its other party
To component calculate depth, multiple reflections are isotropics for any polarization direction due to randomness, due to reflected light
For the component of most weak polarization direction with multiple reflection, the light intensity of loss is more, and therefore, the component of the direction compares reflected light
The accounting of the component of strongest polarization direction, multiple reflections component is lower, so, according to the part light and corresponding modulation light
The obtained depth of phase difference calculating it is more accurate, avoiding the depth is the sum by the depth of multiple reflections.
In the 16th embodiment of the application, above-mentioned detection method further include: adjust the polarization state of above-mentioned modulation light
For unpolarized state, circular polarization state, elliptical polarization state or linear polarization state.It can be further ensured that in this way by second partially
The modulation light for equipment of shaking has the polarized component in projectable to the direction S or the direction P of the various reflectings surface of measurand.
In order to further increase the accuracy of the detection method, in the 17th embodiment of the application, emit modulation light packet
It includes: emitting multiple above-mentioned modulation lights within the multiple periods being spaced apart from each other, an above-mentioned modulation light is corresponding in a transmitting
Between transmitting in section.Utilize the available multiple depth of component on the first direction of more modulation light and corresponding analyzing light, benefit
The depth of measurand can be more accurately determined with this multiple depth.Specifically, in actual application process, due to depth
Calculation formula beWherein, θ is phase difference, corresponds to available one group of depth according to a kind of modulation light of the formula
It is worth, multiple available multiple groups depth values of modulation light, identical value can be determined as the depth of measurand in multiple groups depth value
Degree.For example, work as λ=2m, when θ=π, predetermined depth can for 0.5m, 1.5m, 2.5m ..., as λ=3m, θ=2 π, pre- depth measurement
Degree can for 1.5m, 3m, 4.5m ..., comparing to obtain identical predetermined depth has 1.5m, 4.5m and 7.5m etc., in order to reduce quilt
The identical value for surveying predetermined depth of object, should also increase one or two kinds of modulation light, to determine the depth of measurand.
In actual application process, calculates depth and need first to determine phase difference, it then could be according to phase difference calculating pair
The depth for the measurand answered, in general, the wave function of modulation light be it is known, i.e. the phase of modulation light be it is known,
Assuming that it is phase difference that the formula of the wave function of modulation light, which is r (x)=sin2 π fx, θ, then the formula of the wave function of analyzing light
It can be r (x)=C1+C2Sin (2 π fx+ θ), wherein x indicates the independent variable time, and known variables C1, C2, θ therefore can be with
Unknown quantity C1, C2, θ are solved by least measuring three times, so that phase difference θ be calculated.
In actual detection process, in the 18th embodiment of the application, the launch time section of various above-mentioned modulation lights
More than or equal to 100T, wherein T be corresponding above-mentioned modulation light period, the different corresponding T-phase of above-mentioned modulation light with or
Difference, obtaining each above-mentioned phase difference includes: to receive various reflections within each period of above-mentioned reflected light with predetermined time interval t
Light at least three times, T/4≤t≤T/3；At least various above-mentioned above-mentioned phase differences of reflection optical oomputing three times based on the received, Ke Yitong
It crosses and is at least measured three times to solve unknown quantity C1, C2, θ, so that phase difference θ be calculated.
In above-mentioned scheme, predetermined time interval t is less than or equal to 1/3 can protecting for the cycle T of the wave function of modulation light
Card receives reflected light at least three times in transmitting duration, and predetermined time interval t is more than or equal to the cycle T of the wave function of modulation light
1/4 can guarantee that the light intensity r (x) of received reflected light is different from, avoid the light intensity r (x) of received reflected light identical or
It is close, improve the accuracy of phase difference calculating.By at least the wave function of received reflected light is analyzed three times, can obtain
The value of at least three groups of time point x light intensity r (x) corresponding with its substitutes into formula r (x)=C1+C2In sin (2 π fx+ θ), calculate
Obtain phase difference θ.
In the 19th embodiment of the application, each above-mentioned modulation light is the light of unpolarized state, according to an above-mentioned tune
After light processed determines above-mentioned first direction, the polarization state of above-mentioned modulation light is adjusted to unpolarized state, circular polarization state, ellipse
Polarization state or linear polarization state include: that above-mentioned other above-mentioned modulation lights are adjusted to polarization direction is above-mentioned first direction
Polarised light.In this way by the way that the polarization direction of other modulation lights is adjusted to first direction, other such as rings are further avoided
The influence to testing result such as border light, to further ensure the accuracy of the detection method.
In a kind of specific embodiment, can measure under circular polarization or unpolarized state can be by the P of reflections affect points
The direction of amount adjusts the polarization direction of above-mentioned analyzing light later, is adjusted to elliptical polarization state or linear polarization state, thus will
The predominant direction of polarization is corresponding with the P component, and then improves the effect for eliminating Multipath reflection, it is ensured that the accuracy of detection.
In the 20th embodiment of the application, in the light intensity and second direction of the first direction of at least one above-mentioned analyzing light
Light intensity ratio be greater than predetermined threshold in the case where, it is inclined that the polarization state of above-mentioned modulation light is adjusted to unpolarized state, circle
Vibration state, elliptical polarization state or linear polarization state include: the light intensity for increasing above-mentioned modulation light on above-mentioned first direction, above-mentioned
Second direction is the maximum above-mentioned polarization direction of light intensity of above-mentioned analyzing light.If most weak intensity/most intensity is higher, such as connects
Be bordering on 1, then for the pixel S component of the part may reflection shortage advantage in more dominant or scene direction, for
The case where using linearly polarized light or elliptical polarization, can make P component bigger with rotatory polarization direction.Ideally, P component is
100%, and be transmitted after multiple reflections, then the reflection of multipath is completely eliminated, when depth measurement remaining all P
Component is what individual reflection returned.
It, will be above-mentioned in the 21st embodiment of the application in order to further increase the accuracy of detection method detection
It includes: to not that the polarization state of modulation light, which is adjusted to unpolarized state, circular polarization state, elliptical polarization state or linear polarization state,
Same above-mentioned modulation light is adjusted to different above-mentioned polarization states.
In order to enable the detection method can be suitable for the detection of the measurand of different depth, the detection method ensure that
The detection that can be adapted for the measurand of multiple and different depth enables the method to be widely used in several scenes.
In the 22nd embodiment of the application, in a variety of above-mentioned modulation lights, the amplitude of the biggish above-mentioned modulation light of frequency is less than frequency
The amplitude of lesser above-mentioned modulation light.
In the 23rd embodiment of the application, according to the component of above-mentioned analyzing light in a first direction with it is corresponding above-mentioned
The depth of phase difference calculating measurand between modulation light includes: to obtain any two kinds of above-mentioned modulation lights adjacent in time
Amplitude the first ratio and corresponding two kinds of reflected lights amplitude the second ratio, above-mentioned reflected light is by above-mentioned tested pair
As the above-mentioned modulation light of reflection；The difference of above-mentioned first ratio and above-mentioned second ratio within a predetermined range in the case where, adopt
With corresponding two kinds of modulation lights and the depth of the corresponding above-mentioned above-mentioned measurand of analyzing optical oomputing, i.e., other first ratios
Difference with the second ratio is not used to calculate depth not in the corresponding modulation light of preset range.First ratio and the second ratio
Situations such as difference of value just illustrates that extraneous environment light is weaker within a predetermined range, and modulation light is not shaken, such energy
Enough it is further ensured that the accuracy for the testing result that the detection method obtains.
It should be noted that the first ratio of the application and the difference of the second ratio just refer to that the first ratio subtracts the second ratio
The calculated result that value obtains.
In actual application process, the difference of the first ratio and the second ratio may not within the predefined range, in order to protect
Card such case can also obtain accurate detection as a result, in the 24th embodiment of the application, above-mentioned first ratio with it is upper
In the case where the difference of the second ratio is stated not in above-mentioned preset range, emit modulation light further include: adjust above-mentioned modulation light
One in frequency and amplitude.
Certainly, in actual application process, it sometimes will appear the too strong situation of environment light, at this time corresponding first
The difference of ratio and the second ratio is larger, greater than the maximum value of preset range, that is, is greater than the first predetermined threshold, in order in this feelings
Under condition, guarantees the accurate fixed of testing result, in the 25th embodiment of the application, emit modulation light further include: increase above-mentioned
The amplitude of modulation light keeps the frequency of above-mentioned modulation light constant.It is constant by keep frequency in this way, increase the mode of amplitude to mention
Intensity of the high reflection signal relative to background guarantees the accuracy of testing result to reduce error.
Certainly, sometimes the difference of the first ratio and the second ratio is also possible to the minimum value less than preset range, i.e., small
In the second predetermined threshold, such case may be since the equipment for issuing modulation light is shaken or measurand is moved
Situations such as dynamic, in order to further ensure the accuracy of detection in this case, in the 26th embodiment of the application, transmitting
Modulation light further include: the frequency for increasing above-mentioned modulation light keeps the amplitude of above-mentioned modulation light constant.It in this way can be by frequency more
High modulation light come reduce shake etc. caused by error, further ensure the accuracy of detection.
In addition, it is necessary to explanation, the difference of corresponding first ratio of above-mentioned modulation light and the second ratio after adjusting is still
In the case where greater than the first predetermined threshold, continue the amplitude for increasing modulation light, until the difference of the first ratio and the second ratio exists
In preset range.The difference of corresponding first ratio of modulation light after adjustment and the second ratio is still less than the second predetermined threshold
In situation, continue increase modulation light frequency, until the difference of the first ratio and the second ratio within a predetermined range.
In the 27th embodiment of the application, light intensity packet of each above-mentioned analyzing light on each above-mentioned polarization direction is obtained
It includes: image is formed according to above-mentioned analyzing light；Light of the above-mentioned analyzing light on each above-mentioned polarization direction is determined according to above-mentioned image
By force.Specifically, modulation light is imaged in a plurality of pixels, forms image, subsequent according in the image at least one pixel
Light intensity determine the light intensity on each polarization direction.
In order to reduce the influence of environment light, the accuracy of detection is further increased, in the 28th embodiment of the application,
Emitting modulation light includes: laser of the launch wavelength range between 800nm-950nm.
The 20th of the application provides a kind of equipment with regard to embodiment, which includes the inspection of above-mentioned any depth
Examining system.
Above-mentioned equipment can be server, PC, PAD, mobile phone etc..In the specific application of one kind, above-mentioned equipment is Fig. 4
Shown in mobile phone, detection system 02 is located in mobile phone, and the external structure of mobile phone, externally, detection system are merely illustrated in Fig. 4
The position of system 02 is as shown in the figure.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element
There is also other identical elements in process, method, commodity or equipment.
It will be understood by those skilled in the art that embodiments herein can provide as method, system or computer program product.
Therefore, complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in the application
Form.It is deposited moreover, the application can be used to can be used in the computer that one or more wherein includes computer usable program code
The shape for the computer program product implemented on storage media (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
It can be seen from the above description that the application the above embodiments realize following technical effect:
1), in the depth detection system of the application, the first polarization device to the modulation light after measurand reflects into
Row analyzing obtains multiple analyzing light, and then can detecte the corresponding the smallest polarization direction of light intensity, and imaging device is used for basis
Incident above-mentioned inspection polaroid imaging, forms image, and processing unit can be according to the component of the analyzing light in a first direction and right
The phase difference for the modulation light answered calculates the depth of measurand, in this way the analyzing light can by by Multipath reflection other
Component on direction excludes, i.e., does not use the component in other directions to calculate depth, multiple reflections are due to randomness and for any
Polarization direction is isotropic, since the component of the most weak polarization direction of reflected light is with multiple reflection, the light intensity of loss
More, therefore, the component of the direction compares the component of the strongest polarization direction of reflected light, and the accounting of multiple reflections component is more
It is low, so, the depth obtained according to the phase difference calculating of the part light and corresponding modulation light is more accurate, avoids the depth from being
By the sum of the depth of multiple reflections.
2), in the depth detection method of the application, analyzing is carried out to the modulation light after measurand reflects, is obtained more
A analyzing light, and then can detecte the corresponding the smallest polarization direction of light intensity, according to incident above-mentioned inspection polaroid imaging, formed
Image, it is subsequent that tested pair can be calculated according to the component of the analyzing light in a first direction and the phase difference of corresponding modulation light
The depth of elephant, in this way the analyzing light can will be excluded by the component on other directions of Multipath reflection, i.e., do not use other
The component in direction calculates depth, and multiple reflections are isotropics for any polarization direction due to randomness, due to reflection
For the component of the most weak polarization direction of light with multiple reflection, the light intensity of loss is more, and therefore, the component of the direction is compared to reflection
The component of the strongest polarization direction of light, the accounting of multiple reflections component is lower, so, according to the part light and corresponding modulation
The depth that the phase difference calculating of light obtains is more accurate, and avoiding the depth is the sum by the depth of multiple reflections.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of detection system of depth characterized by comprising
Light supply apparatus, for emitting modulation light；
First polarization device is obtained for carrying out analyzing on multiple polarization directions to the modulation light by measurand reflection
To multiple analyzing light；
Imaging device, positioned at the side of first polarization device, the imaging device is used for according to the incident analyzing light
Imaging forms image；
Processing unit, at least for according between analyzing light component in a first direction and the corresponding modulation light
The depth of measurand described in phase difference calculating, wherein the first direction is that the light intensity of the analyzing light is the smallest described inclined
Shake direction.
2. detection system according to claim 1, which is characterized in that the detection system further include:
Second polarization device, positioned at the side of the light supply apparatus, second polarization device is used for the inclined of the modulation light
Vibration state is adjusted to unpolarized state, circular polarization state, elliptical polarization state or linear polarization state.
3. detection system according to claim 2, which is characterized in that the light supply apparatus is for emitting a variety of modulation
The launch time section of light, a variety of modulation lights is spaced apart from each other.
4. detection system according to claim 3, which is characterized in that each modulation light is the light of unpolarized state,
After the processing unit determines the first direction according to a modulation light, second polarization device is also used to other
The modulation light be adjusted to polarization direction be the first direction polarised light.
5. detection system according to claim 3 or 4, which is characterized in that second polarization device is also used at least
In the case that the ratio of the light intensity of the light intensity and second direction of the first direction of the one analyzing light is greater than predetermined threshold, increase
The light intensity of other modulation lights in said first direction, the second direction for the analyzing light the maximum institute of light intensity
State polarization direction.
6. detection system according to claim 3, which is characterized in that second polarization device is to the different modulation
Light is adjusted to the different polarization states.
7. detection system according to claim 2, which is characterized in that in a variety of modulation lights, frequency is biggish described
The amplitude of modulation light is less than the amplitude of the lesser modulation light of frequency.
8. detection system according to claim 2, which is characterized in that the processing unit includes:
Obtain module, the first ratio and correspondence of the amplitude for obtaining any two kinds of modulation lights adjacent in time
Two kinds of reflected lights amplitude the second ratio, the reflected light is the modulation light reflected by the measurand；
Computing module, the difference of first ratio and second ratio within a predetermined range in the case where, using correspondence
Two kinds of modulation lights and the corresponding analyzing optical oomputing described in measurand depth.
9. detection system according to claim 1, which is characterized in that the light supply apparatus includes VCSEL laser, and institute
State laser of the VCSEL laser emission wavelength range between 800nm-950nm.
10. a kind of detection method of depth, which is characterized in that the detection method includes:
Emit modulation light；
Analyzing is carried out on multiple polarization directions to the modulation light by measurand reflection and obtains multiple analyzing light；
According to the incident inspection polaroid imaging, image is formed；
According to the component of the analyzing light in a first direction and quilt described in the phase difference calculating between the corresponding modulation light
Survey the depth of object, wherein the first direction is the smallest polarization direction of light intensity of the analyzing light.
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