CN110262055A - Projective module group, depth camera and the method for adjusting projective module group focal length - Google Patents
Projective module group, depth camera and the method for adjusting projective module group focal length Download PDFInfo
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- CN110262055A CN110262055A CN201910441518.1A CN201910441518A CN110262055A CN 110262055 A CN110262055 A CN 110262055A CN 201910441518 A CN201910441518 A CN 201910441518A CN 110262055 A CN110262055 A CN 110262055A
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- module group
- lens barrel
- projective module
- screw thread
- light source
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/42—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect
- G02B27/4205—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect having a diffractive optical element [DOE] contributing to image formation, e.g. whereby modulation transfer function MTF or optical aberrations are relevant
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B21/00—Projectors or projection-type viewers; Accessories therefor
- G03B21/14—Details
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B21/00—Projectors or projection-type viewers; Accessories therefor
- G03B21/14—Details
- G03B21/142—Adjusting of projection optics
Abstract
The invention belongs to optics and electronic technology fields, more particularly to a kind of projective module group, depth camera and the method for adjusting projective module group focal length, the projective module group includes fixed lens barrel, light source, mobile lens barrel, lens and optical diffraction unit, the light source is installed in the fixed lens barrel, the lens and the optical diffraction unit are installed in the mobile lens barrel, the mobile lens barrel is movably installed in the fixed lens barrel and moves along the axis of the fixed lens barrel, the light source, the lens and the optical diffraction unit are successively arranged along the axis direction of the fixed lens barrel.Projective module group of the invention can satisfy the demand that projective module group needs to project to projection pattern different distance；Meanwhile the focus adjustable of the projective module group, it also can satisfy the arrangement and diversified demand of the different model product of the projective module group.
Description
Technical field
The invention belongs to optics and electronic technology field more particularly to a kind of projective module group, depth camera and adjust throwing
The method of shadow mould group focal length.
Background technique
Existing laser projection mould group generally includes the laser light source being arranged according to this along optical path, projecting lens and optics and spreads out
Unit is penetrated, and above-mentioned optical element is generally fixedly arranged on lens barrel, goes into operation and complete once assembly, the laser projection mould group
Focal length just it has been determined that laser projection mould group have depth of field working range, far from laser projection mould group focal position, institute
At image will obscure；Currently, first to focus to it before coming into operation in laser projection mould group, make its projection pattern
It is imaged on focal plane.And for existing laser projection mould group, form of focusing is that fixed range focuses (usually 1m or so)
And aligning (essentially coinciding the optical axis of each optical element), and existing laser projection mould group presses fixed focal length in structure
Carry out size design, to the extension of projective module group different model and Diversification Problem, there are limitations for this, and it is apparent this
Need to project to projection pattern the demand of different distance through being unable to satisfy laser projection mould group.
Summary of the invention
The purpose of the present invention is to provide a kind of projective module group, depth camera and the method for adjusting projective module group focal length, purports
The demand that projective module group needs to project to projection pattern different distance is unable to satisfy solving projective module group in the prior art
The technical issues of.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of projective module group, including fixed lens barrel, light source,
Mobile lens barrel, lens and optical diffraction unit, the light source are installed in the fixed lens barrel, and the lens and the optics spread out
It penetrates unit to be installed in the mobile lens barrel, the mobile lens barrel is movably installed in the fixed lens barrel and along the fixed mirror
The axis of cylinder is mobile, and the light source, the lens and the optical diffraction unit are successively along the axis direction of the fixed lens barrel
Setting.
Further, the internal perisporium of the fixed lens barrel is equipped with the first internal screw thread, on the periphery wall of the mobile lens barrel
Equipped with the first external screw thread, first external screw thread and first internal screw thread are threadedly engaged connection.
Further, the lens include cylindrical portion and the flange on the periphery wall of the cylindrical portion, the movement
The internal perisporium of lens barrel is equipped with along the annular protrusion of the circumferential directions for moving lens barrel and along the lens barrel that moves
The first groove that circumferencial direction opens up, the periphery wall of the cylindrical portion are abutted with the end face of the annular protrusion, the flange card
Together in first groove.
Further, optical tubes is equipped in the mobile lens barrel, the optical diffraction unit is installed on the optical frames
In cylinder, it being equipped with the second internal screw thread in the mobile lens barrel, the periphery wall of the optical tubes is equipped with the second external screw thread, and described the
Two external screw threads and second internal screw thread are threadedly engaged connection.
Further, the internal perisporium of the optical tubes be equipped with along the optical tubes circumferencial direction open up second
Groove, the optical diffraction unit card is together in second groove.
Further, the optical diffraction unit includes monolithic optical diffraction element；Alternatively, multi-disc diffractive-optical element,
Diffractive-optical element described in multi-disc after superposition by being installed in the optical tubes.
Said one or multiple technical solutions in projective module group provided by the invention at least have the following technical effect that it
One: when in use, lens barrel need to be only moved by the axis along fixed lens barrel, lens can be towards the direction close to or far from light source
It is moved, to change the light source at a distance from the lens, that is, changes the focal length of the projective module group, so that throwing
The structured light patterns of shadow mould group projection carry out zoom, to meet the need that projective module group needs to project to projection pattern different distance
It asks, that is, is applicable in different projector distances, meanwhile, the components such as disassembly lens, light source, diffraction element and mobile lens barrel are not needed,
Replacement lens are not needed, the purpose clearly projected also may be implemented, and easy to operate yet.Projective module group of the invention, Neng Gouman
Sufficient projective module group needs to project to projection pattern the demand of different distance；Meanwhile the focus adjustable of the projective module group, it can also be with
Meet the arrangement and diversified demand of the different model product of the projective module group.
It is that the present invention uses another solution is that a kind of depth camera, including imaging modules, processor and above-mentioned throwing
Shadow mould group, the imaging modules and the projective module group are electrically connected with the processor.
Depth camera of the invention is moved due to using above-mentioned projective module group by the axis along fixed lens barrel
Lens barrel, lens can be moved towards the direction close to or far from light source, to change the light source at a distance from the lens, i.e.,
The focal length of the projective module group is changed, so that the structured light patterns of projective module group projection carry out zoom, projective module group can be incited somebody to action
Structured light patterns project to different distance, and correspondingly, imaging modules can acquire the structured light patterns of different distance, and processor can be with
Above-mentioned pattern is further processed based on the received, such as the calculating of picture depth.In this way, depth camera is available
Thus the depth image of multiple different distances can realize high-precision, large-scale depth measurement.
It is that the present invention uses another solution is that it is a kind of adjust projective module group focal length method, using above-mentioned projection
Mould group, it is described adjust projective module group focal length method the following steps are included:
S10: the distance value of the projective module group and projection plane is obtained；
S20: according to the distance value, it is corresponding to coke number to calculate the projective module group；
S30: according to described to coke number, adjust the position of the mobile lens barrel so as to adjust the light source and the lens it
Between distance.
Further, the step S10 specifically comprises the following steps:
S11: the structured light patterns of the projective module group projection are acquired；
S12: being calculated the depth value of the structured light patterns, thus obtain the projective module group and projection plane away from
From value.
Further, the step S30 specifically comprises the following steps:
S31: during adjusting the mobile lens barrel position, the structure light of the projective module group projection is extracted in real time
The gray value of the spot of pattern；
S32: the gray value obtained in real time is successively compared with preset threshold, if the obtained gray value is big
In or equal to the preset threshold, then it is not necessarily to continue to adjust the mobile lens barrel；If the obtained gray value is less than described
Preset threshold then continues to adjust the mobile lens barrel until the obtained gray value is more than or equal to the preset threshold.
The method of the adjusting projective module group focal length of the invention, due to using above-mentioned projective module group, first acquired projections
Mould group projection structured light patterns after, according to structured light patterns be calculated projective module group to projection plane distance value, according to
The distance value finds that projective module group is corresponding to coke number, and projective module group removes the moving lens of adjustment projective module group according to this to coke number
Cylinder changes the distance between light source and lens, that is, realizes the adjustable of the focal length of the projective module group.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the structural schematic diagram of projective module group provided in an embodiment of the present invention.
Fig. 2 is the Section View of the line A-A along Fig. 1.
Fig. 3 is the structural schematic diagram of depth camera provided in an embodiment of the present invention.
Fig. 4 is a kind of flow chart of method for adjusting projective module group focal length provided in an embodiment of the present invention.
Fig. 5 is a kind of specific flow chart of method and step S10 for adjusting projective module group focal length provided in an embodiment of the present invention.
Fig. 6 is a kind of specific flow chart of method and step S30 for adjusting projective module group focal length provided in an embodiment of the present invention.
Fig. 7 be the light source and lens in projective module group provided in an embodiment of the present invention distance value and structured light patterns it is bright
The change curve of degree.
Wherein, each appended drawing reference in figure:
10-projective module group 11-fixed lens barrel, 12-light sources
13-mobile 14-lens of lens barrel, 15-optical diffraction units
16-optical tubes 20-imaging modules, 30-processors
111-the first internal screw thread 121-pedestal, 122-semiconductor substrate
123-light-emitting component 132-annular protrusions of the 131-the first external screw thread
133-the second internal screw thread 141-cylindrical portion of the 134-the first groove
142-the 161-the second external screw threads of 151-diffractive-optical element of flange
162-the second 1321-mounting hole of groove.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment that Fig. 1~7 is described is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " length ", " width ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.
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 of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
As shown in Fig. 1~2, in one embodiment of the invention, a kind of projective module group 10, including fixed lens barrel are provided
11, light source 12, mobile lens barrel 13, lens 14 and optical diffraction unit 15, wherein light source 12 is for emitting divergent beams, lens
14 for focusing and collimating the light beam and launch collimated light beam, and optical diffraction unit 15 is for receiving collimated light beam and being projected out
Structured light patterns；Further, light source 12 is installed in fixed lens barrel 11, and lens 14 and optical diffraction unit 15 are installed on movement
In lens barrel 13, mobile lens barrel 13 is movably installed in fixed lens barrel 11 and moves along the axis of fixed lens barrel 11, light source 12, lens
14 and optical diffraction unit 15 be successively arranged along the axis direction of fixed lens barrel 11, wherein mobile lens barrel 13 is coaxially installed on shifting
In moving lens barrel 13, it is to be understood that coaxially refer to the light of the optical axis of light source 12, the optical axis of lens 14 and optical diffraction unit 15
Overlapping of axles.
Specifically, the projective module group 10 of the embodiment of the present invention need to only be moved when in use by the axis along fixed lens barrel 11
Dynamic mobile lens barrel 13, lens 14 can be moved towards the direction close to or far from light source 12, to change light source 12 and lens 14
Distance, that is, change the focal length of the projective module group 10 so that projective module group 10 project structured light patterns carry out zoom,
The needs of projection pattern is projected into different distance is needed to meet projective module group 10, that is, is applicable in different projector distances, meanwhile,
The components such as disassembly lens 14, light source 12, diffraction element and mobile lens barrel 13 are not needed, replacement lens 14 are not needed yet, it can also
To realize the purpose clearly projected, and it is easy to operate.The projective module group 10 of the embodiment of the present invention, can satisfy projective module group 10 needs
Projection pattern is projected to the demand of different distance；Meanwhile the focus adjustable of the projective module group 10, it also can satisfy the projection
The arrangement and diversified demand of the different model product of mould group 10.
As shown in connection with fig. 2, in another embodiment of the present invention, the interior of the fixed lens barrel 11 of the projective module group 10 is provided
Peripheral wall is equipped with the first internal screw thread 111, and the periphery wall of mobile lens barrel 13 is equipped with the first external screw thread 131,131 He of the first external screw thread
First internal screw thread 111 is threadedly engaged connection.Specifically, fixed lens barrel 11 and mobile lens barrel 13 pass through the first external screw thread 131 and the
Under one internal screw thread 111 is threadedly coupled, lens barrel 13 can be moved by rotation around the axis of fixed lens barrel 11 relative to fixed lens barrel
11 axial rotations, in this way, the spiral shell of the first external screw thread 131 by the first internal screw thread 111 and fixed lens barrel 11 of mobile lens barrel 13
Line is cooperatively connected, and lens 14 can be made to be encapsulated in mobile lens barrel 13 and fixed lens barrel 11, so as to reduce external environment (example
Such as, temperature, dust etc.) influence to light source 12, lens 14 and other optical elements, extend mode of laser group uses the longevity
Life.In addition, fixed lens barrel 11 and mobile lens barrel 13 are connected through a screw thread, mobile lens barrel 13 can be under fixed lens barrel 11 completely disassembly
Come, using such separation design, be also convenient for in projective module group 10 lens 14, light source 12, optical diffraction unit 15 and
Other optical elements carry out bad brief analysis and verifying.
Further, orientation according to Fig.2, is illustrated, when mobile lens barrel 13 rotates about central axis relative to solid
When fixed lens barrel 11 axially upwardly rotates, the distance between lens 14 and light source 12 become larger, so that increasing projective module group 10 can project
The distance of clear pattern.Therefore, when projector distance is by closely becoming remote, it should elongate lens 14 at a distance from light source 12.Conversely, working as
When mobile lens barrel 13 rotates about central axis and rotates axially downwards relative to fixed lens barrel 11, between lens 14 and light source 12 away from
From becoming smaller, so that the distance for enabling projective module group 10 to project clear pattern reduces.Therefore, when the projector distance of projective module group 10 by
When far becoming close, it should shorten lens 14 at a distance from light source 12.In this way, only being needed when the projector distance of projective module group 10 changes
Will by moving in rotation lens barrel 13, change lens 14 with light source 12 at a distance from, without change lens 14, light source 12,
The installation site of diffraction element and other component does not need replacement lens 14 yet, the purpose clearly projected also may be implemented.
Further, the quality for the structured light patterns that projective module group 10 projects is not only by the shadow of the focal length of projective module group 10
It rings, it is also related with environmental condition, such as temperature, humidity etc., wherein temperature has significant impact to the performance of projective module group 10.More
For it is essential that the thermal adaptability of lens 14 will determine the quality stability of structured light patterns, so that subsequent depth can be reduced
Spend the computational accuracy of image.Therefore, in the present embodiment, light source 12 and lens 14 take separation design, what light source 12 generated
Temperature rise will not continuingly act on lens 14.In addition, mobile lens barrel 13 is also designed using aluminium, it thus can also dissipating to lens 14
Heat and stability play a role, and improve the quality of the structured light patterns of the projective module group 10 projection.
As shown in connection with fig. 2, in another embodiment of the present invention, the lens 14 for providing the projective module group 10 include cylinder
Portion 141 and the flange 142 on the periphery wall of cylindrical portion 141, the internal perisporium of mobile lens barrel 13 are equipped with along moving lens barrel 13
Circumferential directions annular protrusion 132 and the first groove 134 for being opened up along the circumferencial direction for moving lens barrel 13, cylindrical portion
141 periphery wall is abutted with the end face of annular protrusion 132, and flange 142 is sticked in the first groove 134.Specifically, annular protrusion
132 be the circle protrusion along the internal perisporium for moving lens barrel 13 along its circumferential directions, and the end face of this circle protrusion is enclosed and set
Rounded mounting hole 1321 is formed, the cylindrical portion 141 of lens 14 is installed in mounting hole 1321 and the periphery wall of cylindrical portion 141
It is abutted with the end face of annular protrusion 132, the radially fixed of lens 14 may be implemented；Flange 142 on lens 14 is sticked in first
In groove 134, the axially position of lens 14 is may be implemented in the first groove 134；Wherein, the first groove 134 and 132 phase of annular protrusion
Neighbour is arranged, and the flange 142 on lens 14 is sticked in the first groove 134, i.e., flange 142 is supported close to the side of annular protrusion 132
It is connected on the side of annular protrusion 132, the axial fixation of lens 14 may be implemented, so that it is guaranteed that lens 14 focus and hair
The stability of collimated light beam is projected, and then guarantees the quality of 15 projection structure light pattern of optical diffraction unit.
Further, flange 142 passes through Multi-point point towards the outer edge of mobile lens barrel 13 and the junction of mobile lens barrel 13
The mode of glue is attached, and further, improves the fixed stability of lens 14, and connection type for dispensing glue is easily achieved, and is installed
It is convenient and efficient.
In another embodiment of the present invention, the lens 14 for providing the projective module group 10 can be single element lens 14,
It can be the combination of lens 14.
As shown in connection with fig. 2, in another embodiment of the present invention, it provides and is equipped with optical tubes in the movement lens barrel 13
16, optical diffraction unit 15 is installed in optical tubes 16, is equipped with the second internal screw thread 133, optical tubes 16 in mobile lens barrel 13
Periphery wall be equipped with the second external screw thread 161, the second external screw thread 161 and the second internal screw thread 133 are threadedly engaged connection.Specifically,
Optical diffraction unit 15 is fixed on optical tubes 16, and the periphery wall of optical tubes 16 is equipped with the second external screw thread 161, with movement
Be equipped with the second internal screw thread 133 in lens barrel 13 and be threadedly engaged connection, in this way, enable optical tubes 16 in the second external screw thread 161 and
Under the cooperation of second internal screw thread 133, axial rotation of the central axis relative to mobile lens barrel 13 is rotated about, to realize lens 14
The adjustment of the distance between optical diffraction unit 15.Meanwhile being matched by the screw thread of the second external screw thread 161 and the second internal screw thread 133
It closes, mobile lens barrel 13 may be implemented and closely connect with optical tubes 16, it is right that external environment (for example, temperature, dust etc.) can be reduced
The influence of optical diffraction unit 15, lens 14 and other optical elements extends the service life of projective module group 10.Except this it
Outside, mobile lens barrel 13 uses this detachable design of internal and external threads with optical tubes 16, convenient for by optical diffraction unit 15 from
It separates and comes in the projective module group 10, reprocess and replace in order to which optical diffraction unit 15 is subsequent.
As shown in connection with fig. 2, in another embodiment of the present invention, the interior of the optical tubes 16 of the projective module group 10 is provided
Peripheral wall is equipped with the second groove 162 opened up along the circumferencial direction of optical tubes 16, and it is recessed that optical diffraction unit 15 is sticked in second
In slot 162, wherein the second groove 162 is recessed to surround the circle that its Pivot axle opens up on the inner sidewall of optical tubes 16
Slot.In one embodiment, optical diffraction unit 15 is pasted in the second groove 162 using dispensing.It is understood that phase
It is for the gluing process of existing optical diffraction unit 15, i.e., stringenter to the control of glue amount in surface dispensing, and it is of the invention
Embodiment is to carry out dispensing processing in the inside of optical diffraction unit 15, bigger to the control inclusiveness of glue amount, is easily facilitated
The problem of operating, and dispensing bad (overflowing, starved) can be reduced.
As shown in connection with fig. 2, in another embodiment of the present invention, the optical diffraction unit 15 of the projective module group 10 is provided
Including monolithic optical diffraction element 151 (DOE:Diffractive Optical Elements)；Alternatively, multi-disc optical diffraction member
Part 151, multi-disc diffractive-optical element 151 after superposition by being installed in optical tubes 16.Wherein, multi-disc diffractive-optical element
151 include biplate diffractive-optical element, three pieces diffractive-optical element or the above diffractive-optical element of three pieces, multi-disc optical diffraction
Element 151 can mutually be pasted by dispensing to be superimposed.The laser beam that light source 12 emits passes through multi-disc diffractive-optical element
151 can be with the multiple speckle points of diffraction, so that the structured light patterns spot of projection is more dense, spot distribution is more uniform, right
It is more accurate in the result that subsequent image calculates；Specifically, when in use, light source 12 emits biplate diffractive-optical element 151
Laser beam spread out by first diffractive-optical element 151 (a piece of diffractive-optical element 151 being arranged close to lens 14)
It penetrates and generates 9 zero point speckles, using the more speckle points of second 151 diffraction of diffractive-optical element.In this way, biplate optics spreads out
It is closeer to penetrate the structured light patterns spot that the more traditional monolithic optical diffraction element 151 of structured light patterns of the projection of element 151 projects
Collection, spot distribution is more uniform, and the result calculated for subsequent image is more accurate.
As shown in connection with fig. 2, in another embodiment of the present invention, the light source 12 for providing the projective module group 10 includes pedestal
121, semiconductor substrate 122 and light-emitting component 123；Light-emitting component 123 is mounted in semiconductor substrate 122, semiconductor substrate 122
It is installed on pedestal 121.Specifically, light-emitting component 123 is distributed in semiconductor substrate 122, and pedestal 121 is semiconductor substrate
122 provide a supporting role；Wherein, pedestal 121 can directly be PCB circuit board, and PCB circuit board is used for semiconductor substrate 122
Support is provided with light-emitting component 123, and semiconductor substrate 122 is electrically connected at PCB circuit board, wherein the electric connection can be with
It is to be coupled in semiconductor substrate 122 by conducting wire (not shown), to control the opening and closing of light-emitting component 123, and provides and promote to send out
The current source of the sending light beam of optical element 123.Preferably, PCB circuit board is flexible circuit board (FPC).Certainly, pedestal 121 can also
Think other any type, such as Rigid Flex, or is formed with combinations of materials such as other metals, ceramics.Pedestal 121 may be used also
Think semiconductor material or SOI (silicon-on-insulator, silicon-on-insulator).
In another embodiment of the present invention, the light source 12 for providing the projective module group 10 is point light source 12, such as can be with
It is that edge-emitting laser diodes or vertical cavity surface emitting laser (VCSEL) or light emitting diode (LED) etc. are other types of
Laser.
In another embodiment of the present invention, the light source 12 for providing the projective module group 10 can also be area source 12, example
Such as, light-emitting component 123 can be the VCSEL array being arranged in semiconductor substrate 122 with rule or irregular two-dimensional pattern.
In another embodiment of the present invention, providing the projective module group 10 further includes cooling fin (not shown), cooling fin
It is pasted at the fever of light source 12.Specifically, cooling fin is pasted at the fever of light source 12, what cooling fin can generate light source 12
Heat is dispersed into the outside of light source 12, and light source 12 is avoided to damage because of overheat, extends the service life of projective module group 10.
It further, can be in the pedestal of support semiconductor substrate 122 when light source 12 is edge-emitting laser diodes
Through-hole is opened up on 121, to allow the ceramics under cooling fin engagement edge emission laser diode, plays the role of heat dissipation, in this way
Can be excessively high to avoid the operating temperature of edge-emitting laser diodes, and then extend the service life of projective module group 10.It can be with
Understand, the volume of cooling fin be it is very small, can't to increase projective module group 10 volume.
In one embodiment, cooling fin is made of aluminum material.
As shown in figure 3, in another embodiment of the present invention, providing a kind of depth camera, including imaging modules 20, place
Device 30 and above-mentioned projective module group 10 are managed, imaging modules 20 and projective module group 10 are electrically connected with processor 30, wherein projection
Mould group 10 is used to be projected out clearly structured light patterns in different distance；Imaging modules 20 are for acquiring above-mentioned projection pattern；Place
Reason device 30 is used to control the normal work of projective module group 10 and imaging modules 20.
Specifically, the depth camera of the embodiment of the present invention, due to using above-mentioned projective module group 10, by along fixed lens barrel
The mobile lens barrel 13 of 11 axis, lens 14 can be moved towards the direction close to or far from light source 12, to change light source
12 at a distance from lens 14, that is, change the focal length of the projective module group 10, so that the structure light figure that projective module group 10 projects
Case carries out zoom, i.e. structured light patterns can be projected to different distance by projective module group 10, and correspondingly, imaging modules 20 can acquire not
The structured light patterns of same distance.
It is understood that the focal length of projective module group 10 be it is adjustable, acquisition mould group can using single focus acquire mirror
Head or multiple focus acquisition camera lens then when the focal length of projective module group 10 changes, need replacing and projective module group 10 according to the former
The compatible acquisition camera lens of focal length, according to the latter, then when projective module group 10 focal length change when, then do not need replacement mirror
Head.
It is understood that the structure optical mode that projective module group 10 can support different type light source 12 to generate, such as visible
Light, infrared, ultraviolet, black light etc. also support the coding projection scheme of different pattern composition, such as sporadophyric, bulk, cross
The patterns such as shape, striated, special symbol.For example, the structured light patterns that projective module group 10 is projected out are infrared speckle pattern, at this time
Imaging modules 20 can be infrared imaging mould group 20, optical filter can also be arranged on the imaging sensor of imaging modules 20 with only
The light beam for allowing projective module group 10 to project passes through, to avoid the interference of external ambient light.
Further, the structured light patterns for the different distance that imaging modules 20 acquire can further be transferred to processor
30, processor 30 above-mentioned pattern can be further processed based on the received, such as the calculating of picture depth.In this way,
Thus the depth image of multiple available different distances of depth camera can realize high-precision, large-scale depth measurement.
As shown in figure 4, in another embodiment of the present invention, providing a kind of method for adjusting projective module group focal length, adopting
With such as above-mentioned projective module group 10, adjust the method for projective module group focal length the following steps are included:
S10: the distance value of projective module group 10 and projection plane is obtained；
S20: according to distance value, it is corresponding to coke number to calculate projective module group 10；
S30: according to coke number, the position of mobile lens barrel 13 is adjusted so as to adjust the distance between light source 12 and lens 14.
Specifically, the focal length of lens is fixed and invariable, then structured light patterns are projected to the projection of specific range by projective module group 10
When plane, be also to coke number it is determining, i.e., projector distance value be one-to-one to coke number.This step can be by a large amount of
Experiment seek projector distance value and functional relation to coke number in advance, and be stored in the processor 30 of above-mentioned depth camera,
Therefore work as and obtain projector distance value, it can call the function of storage in a program using the processor 30 of above-mentioned depth camera
Relational expression obtains accordingly to coke number.
In the present embodiment, the method for the adjusting projective module group focal length of the embodiment of the present invention, due to using above-mentioned projection
The distance value that mould group, first acquisition projective module group 10 arrive projection plane, it is corresponding right to find projective module group 10 for value according to this distance
Coke number, projective module group 10 remove the mobile lens barrel 13 of adjustment projective module group 10 according to this to coke number, change light source 12 and lens 14 it
Between distance, that is, realize the adjustable of the focal length of the projective module group 10.
In one embodiment, projective module group 10 and the distance value of projection plane can be obtained by manual measurement.
As shown in figure 5, in another embodiment of the present invention, the step of method of the adjusting projective module group focal length is provided
S10 specifically comprises the following steps:
S11: the structured light patterns that acquired projections mould group 10 projects；Specifically, it can use the imaging of above-mentioned depth camera
The structured light patterns of 20 acquired projections mould group 10 of mould group projection utilize the structure of 20 acquired projections mould group 10 of imaging modules projection
After light pattern, the structured light patterns that imaging modules 20 will acquire are transferred to processor 30.
S12: being calculated the depth value of structured light patterns, to obtain the distance value of projective module group 10 Yu projection plane.
Specifically, the depth value of the structured light patterns is calculated using the above-mentioned structured light patterns collected, thus
Obtain the distance value that projective module group 10 arrives projection plane.Such as in one embodiment, collected infrared speckle pattern, then may be used
Calculate the depth value of each spot, last averaged and the distance value that projection plane is arrived as projective module group 10.
As shown in fig. 6, in another embodiment of the present invention, the step of method of the adjusting projective module group focal length is provided
S30 specifically comprises the following steps:
S31: during mobile lens barrel 13, the spot for the structured light patterns that projective module group 10 projects is extracted in real time
The gray value of point；Specifically, when collecting structured light patterns, the gray scale of multiple spots in structured light patterns can be calculated
Value, last averaged and the gray value as structured light patterns.
S32: the gray value obtained in real time is successively compared with preset threshold, if obtained gray value is greater than or waits
In preset threshold, then without continuing to adjust mobile lens barrel 13；If obtained gray value is less than preset threshold, continue adjustment movement
Lens barrel 13 is until obtained gray value is more than or equal to preset threshold.
Wherein, after projector distance has determined, the distance value X and structure of light source 12 and lens 14 in projective module group 10
The change curve (as shown in Figure 7) of the brightness Y of light pattern can also determine；As shown in Figure 7, in adjustment projective module group focal length
In the process, imaging modules 20 can collect more auxiliary structure light patterns, wherein the brightness for having an auxiliary structure light pattern is most bright, then should
Structured light patterns are imaged on the focal plane of projective module group 10, and lens 14 have been tuned to ideal at a distance from light source 12 at this time
Value, and the gray value of structured light patterns represent be structured light patterns brightness, will be corresponding to the most bright structured light patterns of brightness
Gray value as preset threshold, then when having sought the gray value of structured light patterns, it can be determined that whether it is greater than or waits
In preset threshold, if it is not, then illustrating that the focal length of projective module group 10 is not transferred to perfect condition, in this way, should continue to adjust moving lens
Cylinder 13, i.e. at a distance from lens 14, the adjustment of above-mentioned mobile lens barrel 13 can be completed adjustment light source 12 by artificial or machine.
In another embodiment of the present invention, the method for the adjusting projective module group focal length is provided, in adjustment lens 14
In the process, the distance between lens 14 and projection plane opposite can also change, then lens 14 at a distance from light source 12
It is transferred to ideal value, the distance between lens 14 and projection plane have also correspondingly been transferred to ideal value, and therefore, preset threshold can be with
The ideal distance value between lens 14 and projection plane, then needing above-mentioned gray value being converted into correspondence before comparison
Lens 14 and the distance between projection plane value, then the two is compared, thus judge lens 14 and light source 12 away from
From whether being transferred to ideal value.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (10)
1. a kind of projective module group, it is characterised in that: including fixed lens barrel, light source, lens barrel, lens and optical diffraction unit are moved,
The light source is installed in the fixed lens barrel, and the lens and the optical diffraction unit are installed in the mobile lens barrel,
The mobile lens barrel is movably installed in the fixed lens barrel and moves along the axis of the fixed lens barrel, the light source, described
Lens and the optical diffraction unit are successively arranged along the axis direction of the fixed lens barrel.
2. projective module group according to claim 1, it is characterised in that: the internal perisporium of the fixed lens barrel is equipped in first
The periphery wall of screw thread, the mobile lens barrel is equipped with the first external screw thread, first external screw thread and the first internal screw thread screw thread
It is cooperatively connected.
3. projective module group according to claim 1, it is characterised in that: the lens include cylindrical portion and be set to the cylinder
Flange on the periphery wall in portion, the internal perisporium of the mobile lens barrel are equipped with the ring along the circumferential directions for moving lens barrel
Shape is raised and along the first groove that the circumferencial direction for moving lens barrel opens up, the periphery wall of the cylindrical portion and the annular
The end face of protrusion abuts, and the flange is sticked in first groove.
4. described in any item projective module groups according to claim 1~3, it is characterised in that: be equipped with optics in the mobile lens barrel
Lens barrel, the optical diffraction unit are installed in the optical tubes, and the second internal screw thread, the light are equipped in the mobile lens barrel
The periphery wall for learning lens barrel is equipped with the second external screw thread, and second external screw thread and second internal screw thread are threadedly engaged connection.
5. projective module group according to claim 4, it is characterised in that: the internal perisporium of the optical tubes is equipped with along described
The second groove that the circumferencial direction of optical tubes opens up, the optical diffraction unit card is together in second groove.
6. projective module group according to claim 4, it is characterised in that: the optical diffraction unit includes monolithic optical diffraction
Element；
Alternatively, multi-disc diffractive-optical element, diffractive-optical element described in multi-disc after superposition by being installed in the optical tubes.
7. a kind of depth camera, it is characterised in that: including the throwing of any one of imaging modules, processor and claim 1~6
Shadow mould group, the imaging modules and the projective module group are electrically connected with the processor.
8. a kind of method for adjusting projective module group focal length, it is characterised in that: using the projective module group described in claim 1~6, institute
State adjust projective module group focal length method the following steps are included:
S10: the distance value of the projective module group and projection plane is obtained；
S20: according to the distance value, it is corresponding to coke number to calculate the projective module group；
S30: according to described to coke number, the position of the mobile lens barrel is adjusted so as to adjust between the light source and the lens
Distance.
9. the method according to claim 8 for adjusting projective module group focal length, it is characterised in that: the step S10 is specifically wrapped
Include following steps:
S11: the structured light patterns of the projective module group projection are acquired；
S12: being calculated the depth value of the structured light patterns, to obtain the projective module group at a distance from projection plane
Value.
10. the method for adjusting projective module group focal length according to claim 8 or claim 9, it is characterised in that: the step S30 tool
Body includes the following steps:
S31: during adjusting the mobile lens barrel position, the structured light patterns of the projective module group projection are extracted in real time
Spot gray value；
S32: the gray value obtained in real time is successively compared with preset threshold, if the obtained gray value be greater than or
Person is equal to the preset threshold, then without continuing to adjust the mobile lens barrel；If the obtained gray value is less than described default
Threshold value then continues to adjust the mobile lens barrel until the obtained gray value is more than or equal to the preset threshold.
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