CN110926599B - Structured light projection module human eye safety detection device and detection method thereof - Google Patents
Structured light projection module human eye safety detection device and detection method thereof Download PDFInfo
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
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Abstract
The invention provides a human eye safety detection device of a structured light projection module, which comprises: a fixing mechanism suitable for fixing the projection module; a rotation mechanism adapted to rotate the fixing mechanism; a reticle adapted to receive a structured light pattern; a first light intensity collection device for collecting the structured light pattern; the data processing equipment is used for screening out the rotating angle of the rotating mechanism corresponding to the sub-region with the maximum light intensity according to the acquired structured light pattern; and the second light intensity acquisition equipment comprises a light inlet hole, and is used for detecting the light intensity of the structured light projected by the to-be-detected structured light projection module entering the light inlet hole when the fixing mechanism is rotated to the rotation angle of the rotating mechanism determined by the data processing equipment, and further judging whether the projected structured light of the to-be-detected structured light projection module is safe to human eyes. The invention also provides a human eye safety detection method. The invention can realize the rapid detection of the eye safety of the structured light projection module.
Description
Technical Field
The invention relates to the technical field of optics, in particular to a structured light projection module human eye safety detection device and a detection method thereof.
Background
The structured light projection module is used for projecting a structured light pattern outwards, and is an important component for realizing 3D imaging. The projection module mainly comprises a projection module light source component (VCSEL) and a lens component, wherein the lens component specifically comprises a collimation element and an optical diffraction element. When the projection module works, the light source component of the projection module emits near infrared light, the near infrared light is collimated by the collimating element to form uniform and parallel light beams, and the uniform and parallel light beams are modulated and copied by the optical diffraction element to form a specific optical pattern which is projected in a projection field.
The speckle pattern, the number of light spots, the illumination intensity, the angle of field and the like projected by the projection module can affect the imaging quality and precision. The imaging quality and distance can be improved by increasing the intensity and number of the lasers, but the safety of laser projection is also considered due to the zero-order diffraction effect of the laser, and particularly the safety problem of human eyes caused by short-distance use is considered.
Because the projected light spots of the structured light passing through the optical diffraction element are different in brightness, each light spot of the projected structured light is tested in a short distance, the area with the maximum light intensity in the projected field is selected by shooting the structured light pattern of the projection module and combining the compensation mode of a software algorithm, and then the area with the maximum light intensity is detected by the detection device to replace the original scanning test for the intensity of all the light spots in the projected field, so that the intensity of the projected laser light spots is ensured to be in the safe use range of human eyes.
Disclosure of Invention
The present invention aims to provide a solution that overcomes at least one of the drawbacks of the prior art.
According to an aspect of the present invention, there is provided an eye safety detecting device of a structured light projection module, comprising:
the fixing mechanism is suitable for fixing the light projection module of the structure to be detected;
a rotation mechanism adapted to rotate the fixing mechanism to different angles;
the mark plate is suitable for receiving the structured light pattern projected by the structured light projection module to be detected;
the first light intensity acquisition equipment is used for acquiring the structured light pattern projected on the target;
the data processing equipment is used for screening out the rotating angle of the rotating mechanism corresponding to the sub-region with the maximum light intensity according to the acquired structured light pattern; and
and the second light intensity acquisition equipment comprises a light inlet hole, and is used for detecting the light intensity of the structured light projected by the to-be-detected structured light projection module entering the light inlet hole when the fixing mechanism rotates to the rotation angle of the rotating mechanism determined by the data processing equipment, and further judging whether the projected structured light of the to-be-detected structured light projection module is safe to human eyes.
The sub-region with the maximum light intensity is the sub-region with the maximum light intensity on the equidistant sphere of the structured light of the to-be-detected structured light projection module.
The data processing equipment is further used for recovering the brightness of each sub-region on the corresponding structured light equidistant spherical surface according to the brightness and the position of each sub-region of the acquired structured light pattern, further finding out the sub-region with the maximum light intensity on the structured light equidistant spherical surface and determining the rotating angle of the rotating mechanism corresponding to the sub-region with the maximum light intensity.
The structured light projection module to be detected is provided with a structured light emergent surface, and the distance between the target board and the central point of the structured light emergent surface is 150-250 mm.
The human eye safety detection device is provided with an X axis and a Y axis which pass through the central point of the light inlet hole, the Z axis of the structural light emergent surface central point and the Z axis jointly form a rectangular coordinate system, wherein the intersection point of the X axis and the Y axis coincides with the structural light emergent surface central point.
The first light intensity acquisition equipment is a camera, and the camera is suitable for shooting the structured light pattern projected on the target by the to-be-detected structured light projection module.
The camera is provided with a lens center, and a connecting line of the lens center and the central point of the structured light emergent surface is vertical to the target.
According to an aspect of the present invention, there is also provided a method for detecting safety of human eyes by using a structured light projection module, including:
1) projecting a structured light pattern to the target by the structured light projection module to be detected;
2) capturing the structured light pattern with a camera;
3) screening out a subarea with the maximum light intensity according to the shot structured light pattern and determining a rotating angle of a rotating mechanism corresponding to the subarea;
4) enabling the to-be-detected structured light projection module to face the integrating sphere, and rotating the to-be-detected structured light projection module to enable a light inlet of the integrating sphere to be opposite to the rotating angle of the rotating mechanism determined in the step 3); and
5) and detecting the light intensity of the structured light entering the light inlet hole through the integrating sphere, and further judging whether the projected structured light of the to-be-detected structured light projection module is safe to human eyes.
In the step 3), the sub-region with the maximum light intensity is the sub-region with the maximum light intensity on the equidistant sphere of the structured light of the to-be-detected structured light projection module.
In the step 3), the illumination intensity of each sub-region on the corresponding equidistant spherical surface of the structured light is restored according to the brightness and the position of each sub-region of the collected structured light pattern, so that the sub-region with the maximum light intensity on the equidistant spherical surface is found out, and the rotating angle of the rotating mechanism corresponding to the sub-region with the maximum light intensity is determined.
In the step 3), the shape and size of each sub-region on the structured light equidistant sphere are determined according to the shape and size of the light inlet hole; for any spherical sub-area on the structured light equidistant sphere, the spherical sub-area is provided with a corresponding plane sub-area positioned in the structured light pattern, and the shape and the size of the plane sub-area are calculated based on the geometric relationship according to the position, the shape and the size of the spherical sub-area.
In step 3), recovering the illumination intensity of each sub-region on the corresponding equidistant sphere of the structured light according to the brightness and the position of each sub-region of the collected structured light pattern includes:
10) respectively calculating the light intensity of the plane sub-region corresponding to each spherical sub-region according to the collected structured light pattern;
20) obtaining the attenuation of light from the spherical subarea to the corresponding plane subarea according to the position of each spherical subarea;
30) and recovering the light intensity of each spherical sub-region according to the light intensity of the planar sub-region and the obtained attenuation.
Compared with the prior art, the invention has at least one of the following technical effects:
1. and screening out the subarea with the maximum light intensity according to the collected structured light pattern, and determining the rotating angle of the corresponding rotating mechanism according to the subarea with the maximum light intensity.
2. And restoring the illumination intensity of each sub-region on the corresponding structured light equidistant spherical surface according to the brightness and the position of each sub-region of the acquired structured light pattern, further finding out the sub-region with the maximum light intensity on the structured light equidistant spherical surface and determining the rotating angle of the rotating mechanism corresponding to the sub-region with the maximum light intensity.
3. The second light intensity acquisition equipment is used for detecting the light intensity of the structured light projected by the to-be-detected structured light projection module entering the light inlet when the fixing mechanism rotates to the determined rotation angle of the rotating mechanism corresponding to the sub-region with the maximum light intensity, and further judging whether the projected structured light of the to-be-detected structured light projection module is safe to human eyes, so that the sub-region with the maximum light intensity is used for replacing and detecting all regions, and the detection efficiency is improved.
Drawings
Exemplary embodiments are illustrated in referenced figures of the drawings. The embodiments and figures disclosed herein are to be regarded as illustrative rather than restrictive.
FIG. 1 is a schematic perspective view of a structured light projection module human eye safety inspection device according to one embodiment of the present invention;
FIG. 2 shows a side view of an integrating sphere of one embodiment of the present invention;
FIG. 3 is a schematic diagram of the structured light projection module according to an embodiment of the present invention recovering a planar structured light pattern projected on a reticle into a structured light equidistant sphere;
fig. 4 is a flowchart illustrating a method for detecting the eye safety detection device of the structured light projection module according to an embodiment of the present invention.
Detailed Description
For a better understanding of the present application, various aspects of the present application will be described in more detail with reference to the accompanying drawings. It should be understood that the detailed description is merely illustrative of exemplary embodiments of the present application and does not limit the scope of the present application in any way. Like reference numerals refer to like elements throughout the specification. The expression "and/or" includes any and all combinations of one or more of the associated listed items.
It should be noted that the expressions first, second, etc. in this specification are used only to distinguish one feature from another feature, and do not indicate any limitation on the features. Thus, a first body discussed below may also be referred to as a second body without departing from the teachings of the present application.
In the drawings, the thickness, size, and shape of an object have been slightly exaggerated for convenience of explanation. The figures are purely diagrammatic and not drawn to scale.
It will be further understood that the terms "comprises," "comprising," "includes," "including," "has," "including," and/or "including," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Moreover, when a statement such as "at least one of" appears after a list of listed features, the entirety of the listed features is modified rather than modifying individual elements in the list. Furthermore, when describing embodiments of the present application, the use of "may" mean "one or more embodiments of the present application. Also, the term "exemplary" is intended to refer to an example or illustration.
As used herein, the terms "substantially," "about," and the like are used as terms of table approximation and not as terms of table degree, and are intended to account for inherent deviations in measured or calculated values that will be recognized by those of ordinary skill in the art.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a schematic perspective view of a structured light projection module human eye safety detection device according to an embodiment of the invention. As shown in fig. 1, the structured light projection module human eye safety detection apparatus 1000 includes a second light intensity collecting device (integrating sphere 100), a rotating mechanism (first rotating part 201 and second rotating part 202), a fixing mechanism 300, a supporting mechanism 400, a target 600, a first light intensity collecting device (not shown), and a data processing device (not shown). Wherein, the second light intensity collecting device is fixed, and the fixing mechanism 300 is suitable for fixing the structure light projection module 500 to be detected; the rotating mechanism is suitable for rotating the fixing mechanism 300 and the to-be-detected structured light projection module 500 fixed on the fixing mechanism 300 to different angles; the target 600 is adapted to receive the structured light pattern projected by the to-be-detected structured light projection module 500; a first light intensity collection device (camera) for collecting the structured light pattern projected onto the target 600; the data processing equipment is used for screening out the rotating angle of the rotating mechanism corresponding to the sub-region with the maximum light intensity according to the collected structured light pattern; the second light intensity collecting device comprises a light inlet (not shown), and is configured to detect light intensity of a structured light spot projected by the to-be-detected structured light projection module entering the light inlet when the fixing mechanism 300 is rotated to the rotation angle of the rotating mechanism determined by the data processing device, and further determine whether the projected structured light of the to-be-detected structured light projection module is safe for human eyes; the supporting mechanism 400 is used to support the second light intensity collecting device, the rotating mechanism and the target.
Further, in one embodiment, the second light intensity collecting device is an integrating sphere 100.
Fig. 2 shows a side view of an integrating sphere of one embodiment of the present invention. As shown in fig. 2, the integrating sphere 100 includes a light entrance hole 101 and a light collection hole 102. The integrating sphere 100 is a hollow sphere whose inner wall is coated with a diffuse reflection coating, and the integrating sphere 100 includes a diffuse reflection coating and a light blocking plate, which are not shown, in addition to the light entrance hole 101 and the light collection hole 102 shown in fig. 2. The light inlet 101 is used for receiving a structured light spot projected by the to-be-detected structured light projection module 500; the incident structured light spot enters the integrating sphere 100 through the light inlet hole 101, and after multiple diffuse reflections of the diffuse reflection layer coated on the inner wall of the integrating sphere 100, uniform reflected light is obtained on the inner wall of the integrating sphere 100, and the uniform reflected light is emitted out of the integrating sphere 100 through the light collecting hole 102; the light barrier is disposed in the lighting hole 102 and is used to block the first reflected light from directly entering the light path of the lighting hole 102.
Referring to fig. 1, the structured light projection module 500 to be detected has a structured light emitting surface, and the human eye safety detection device 1000 has a Z axis passing through a central point of the light incident hole 101 and a central point of the structured light emitting surface, and an X axis and a Y axis which form a rectangular coordinate system together with the Z axis, wherein the rotation mechanism includes a first rotation portion 201 and a second rotation portion 202, the first rotation portion rotates around the X axis, and the second rotation portion rotates around the Y axis. Wherein, the letters X, Y and Z in fig. 1 indicate directions of X, Y and Z axes, and do not represent the X, Y and Z axes. In addition, the intersection point of the X axis and the Y axis is superposed with the central point of the structured light emergent surface of the structured light projection module to be detected, the point is used as the center of the rotating mechanism of the human eye safety detection device, and the rotating mechanism always rotates around the point to perform the rotation test in the test process. In addition, the structured light projected by the to-be-detected structured light projection module has a field angle, and the rotation range of the rotation mechanism covers the field angle, that is, the rotation mechanism can realize the comprehensive detection of the structured light projected by the to-be-detected structured light projection module. The distance between the target board and the center point of the structured light emergent surface is 150mm to 250mm, and the distance is the optimal projection distance from the structured light projection module to be detected to the target board. Further, in an embodiment, the sub-region with the maximum light intensity screened by the data processing device is the sub-region with the maximum light intensity on the equidistant sphere of the structured light projection module 500 to be detected. The radius of the structured light equidistant sphere may be the distance from the center point of the structured light exit surface to the target 600.
Further, in an embodiment, the data processing device recovers the illumination intensity of each sub-region on the corresponding structured light equidistant spherical surface according to the brightness and the position of each sub-region of the collected structured light pattern, and further finds out the sub-region with the maximum light intensity on the structured light equidistant spherical surface and determines the rotation angle of the rotating mechanism corresponding to the sub-region with the maximum light intensity. Fig. 3 is a schematic diagram illustrating a planar structured light pattern projected by the structured light projection module on the reticle being restored to be a structured light equidistant sphere according to an embodiment of the present invention. As shown in fig. 3, the plane 700 is a planar structured light pattern projected by the structured light projection module to be tested on the target 600, the equidistant spherical surface 800 is a corresponding structured light equidistant spherical surface restored according to the planar structured light pattern, wherein the point O is a central point of the structured light exit surface. The rotating mechanism can rotate the fixed structure 300 and the to-be-detected structured light projection module 500 fixed on the fixed structure 300 according to the rotating angle of the rotating mechanism corresponding to the sub-region with the maximum light intensity, so that the second light intensity collecting device can directly detect the sub-region with the maximum light intensity on the structured light equidistant spherical surface, the comprehensive detection of the structured light equidistant spherical surface can be replaced, and the detection efficiency is improved.
The second light intensity acquisition equipment is used for detecting the light intensity of the structured light projected by the to-be-detected structured light projection module entering the light inlet when the fixing mechanism is rotated to the rotation angle of the rotating mechanism corresponding to the sub-region with the maximum light intensity determined by the data processing equipment by the rotating mechanism, and further judging whether the projected structured light of the to-be-detected structured light projection module is safe for human eyes.
Further, in an embodiment, the first light intensity collecting device is a camera, and the camera is adapted to shoot the structured light pattern projected on the target by the to-be-detected structured light projecting module.
Further, in one embodiment, the camera has a lens center, and a line connecting the lens center and the center point of the structured light exit surface is perpendicular to the target, and the line is perpendicular to the target, so that the camera can clearly shoot the structured light pattern on the target.
Further, in one embodiment, the rotation mechanism has two mutually orthogonal rotation directions corresponding to the rotation directions of the first and second rotation portions 201 and 202, respectively.
The human eye safety detection device in the above embodiment projects the structured light pattern to the target plate by the structured light projection module to be detected, the structured light pattern is collected by the first light intensity collection device through the target plate, the data processing device screens out the sub-region with the maximum light intensity and the rotation angle of the rotation mechanism corresponding to the sub-region with the maximum light intensity according to the collected structured light pattern, and the rotation mechanism rotates the structured light projection module to be detected according to the rotation angle of the rotation mechanism corresponding to the sub-region with the maximum light intensity, so that the second light intensity collection device can directly collect the structured light pattern of the sub-region with the maximum light intensity to avoid collecting all structured light projected by the structured light projection module to be detected, thereby improving the detection efficiency.
Fig. 4 is a flowchart illustrating a method for detecting the eye safety detection device of the structured light projection module according to an embodiment of the present invention. Referring to fig. 4, the detection method includes the following steps S10 to S60:
s10: the structured light projecting module 500 to be detected is fixed in the fixing mechanism 300.
S20: the rotating mechanism is rotated to drive the fixing mechanism 300 and the to-be-detected structured light projection module 500 fixed on the fixing mechanism 300 to rotate, so that the to-be-detected structured light projection module 500 projects structured light patterns towards the target 600, and meanwhile, a connection line between the center of the lens of the camera and the center point of the structured light emergent surface of the to-be-detected structured light projection module 500 is perpendicular to the target.
S30: the camera shoots the structured light pattern projected on the target by the structured light projection module 500 to be detected, and transmits the shot image to the data processing equipment.
S40: and the data processing equipment screens out the sub-region with the maximum light intensity of the structured light pattern according to the shot image and determines the rotating angle of the rotating mechanism corresponding to the sub-region with the maximum light intensity.
S50: the rotating mechanism is rotated to drive the fixing mechanism 300 and the to-be-detected structured light projection module 500 fixed on the fixing mechanism 300 to rotate, so that the to-be-detected structured light projection module 500 faces the integrating sphere, and the to-be-detected structured light projection module is rotated to enable the light inlet of the integrating sphere to face the sub-region with the maximum light intensity determined in the step S40.
S60: the rotating mechanism rotates the fixing mechanism 300 and the to-be-detected structured light projection module 500 fixed on the fixing mechanism 300 according to the rotating angle of the rotating mechanism corresponding to the sub-region with the maximum light intensity, so that the light inlet of the integrating sphere collects the structured light pattern of the sub-region with the maximum light intensity, the integrating sphere detects the light intensity of the structured light projected by the to-be-detected structured light projection module entering the light inlet, and whether the projected structured light of the to-be-detected structured light projection module is safe for human eyes is further judged.
Further, in an embodiment, in step S40, the selected sub-region with the maximum light intensity of the structured light is the sub-region with the maximum light intensity on the equidistant sphere of the structured light projecting module to be detected.
Further, in an embodiment, in step S40, according to the brightness and the position of each sub-region of the collected structured light pattern, the illumination intensity of each sub-region on the corresponding equidistant spherical surface of the structured light is restored, and then the sub-region with the maximum light intensity on the equidistant spherical surface is found out and the rotation angle of the rotating mechanism corresponding to the sub-region with the maximum light intensity is determined. In one embodiment, the shape and size of each sub-region on the structured light equidistant sphere (which is referred to herein as a spherical sub-region for ease of description) is determined according to the shape and size of the light entrance hole (for example, when the light entrance hole is circular and the aperture is 7mm, each spherical sub-region may also be circular and have a diameter of 7 mm). For any spherical sub-region on the structured light equidistant sphere, the spherical sub-region has a corresponding planar sub-region located on the structured light pattern (for convenience of description, it is referred to as a planar sub-region) and the shape and size of the planar sub-region are calculated based on the geometric relationship according to the position, shape and size of the spherical sub-region. Wherein position may be understood as azimuth or azimuth. Generally, the shape of the planar sub-region may be approximated as an ellipse, depending on the geometric relationship. When the azimuth angle of the spherical sub-region relative to the center point of the light-emitting surface of the projection module is larger (i.e., the spherical sub-region is more deviated from the central axis of the light-emitting surface of the projection module), the area of the corresponding planar sub-region is also larger. When the azimuth angle of the spherical sub-region relative to the center point of the light-emitting surface of the projection module is smaller (i.e., when the spherical sub-region is closer to the central axis of the light-emitting surface of the projection module), the area of the corresponding planar sub-region is smaller. When the azimuth angle of the spherical sub-region relative to the center point of the light-emitting surface of the projection module is zero (i.e., the spherical sub-region is located at the central axis of the light-emitting surface of the projection module), the corresponding planar sub-region is circular.
Further, in an embodiment, recovering the illumination intensity of each sub-region on the corresponding equidistant sphere of the structured light according to the brightness and the position of each sub-region of the collected structured light pattern comprises the following steps.
a) And respectively calculating the light intensity of the plane sub-region corresponding to each spherical sub-region according to the collected structured light pattern. In this step, the light intensity of the planar sub-region is the total light intensity within the planar sub-region. In particular, the total light intensity of all the pixel points (or all the basic units for collecting the light intensity) in the range of the plane sub-region can be calculated.
b) And obtaining the attenuation of the light reaching the corresponding plane sub-region from the spherical sub-region according to the position of each spherical sub-region. Wherein position may be understood as azimuth or azimuth. When the azimuth angle of one spherical sub-region relative to the center point of the light-emitting surface of the projection module is large, the attenuation of the light intensity of the corresponding planar sub-region collected on the target is also large. Conversely, when the azimuth angle of one spherical sub-region relative to the center point of the light-emitting surface of the projection module is small, the attenuation of the light intensity of the corresponding planar sub-region collected on the target is also small. This attenuation is related to the propagation distance of the light and can therefore be calculated from geometrical relations. The geometrical relationship between the reticle plane 700 and the structured light equidistant sphere 800 can be referred to fig. 3.
c) And recovering the light intensity of each spherical sub-region (namely recovering the illumination intensity of each spherical sub-region) according to the light intensity of the planar sub-region and the obtained attenuation. Therefore, the image (for example, the structured light pattern shot by the camera) shot by the camera of the illumination intensity of each sub-area on the equidistant spherical surface of the structured light can be restored based on the structured light pattern projected on the target, the brightness is displayed, and the brightness and the illumination intensity have a direct ratio relation, so that the brightest area selected after conversion is the corresponding area with the strongest illumination intensity according to the brightness of the corresponding area of the image.
In the detection method of the human eye safety detection device using the structured light projection module, the structured light pattern is projected to the target plate through the to-be-detected structured light projection module, the sub-region with the maximum light intensity and the rotation angle of the rotation mechanism corresponding to the sub-region are determined according to the pattern on the target plate, and the to-be-detected structured light projection module is rotated through the rotation mechanism according to the rotation angle of the rotation mechanism corresponding to the sub-region with the maximum light intensity, so that the light inlet hole of the second light intensity collection device only collects the structured light spots of the sub-region with the maximum light intensity, and the detection efficiency is improved.
The above description is only a preferred embodiment of the present application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (8)
1. The utility model provides an eye safety inspection device of module is thrown to structured light which characterized in that includes:
the fixing mechanism is suitable for fixing the light projection module of the structure to be detected;
a rotation mechanism adapted to rotate the fixing mechanism to different angles;
the mark plate is suitable for receiving the structured light pattern projected by the structured light projection module to be detected;
the first light intensity acquisition equipment is used for acquiring the structured light pattern projected on the target;
the data processing equipment is used for screening out the rotating angle of the rotating mechanism corresponding to the sub-region with the maximum light intensity according to the acquired structured light pattern; and
the second light intensity acquisition equipment comprises a light inlet, and is used for detecting the light intensity of the structured light projected by the to-be-detected structured light projection module entering the light inlet when the fixing mechanism is rotated to the rotation angle of the rotating mechanism determined by the data processing equipment, so as to judge whether the projected structured light of the to-be-detected structured light projection module is safe to human eyes,
wherein the sub-region with the maximum light intensity is the sub-region with the maximum light intensity on the equidistant sphere of the structured light of the to-be-detected structured light projection module, and
the data processing equipment is further used for recovering the illumination intensity of each sub-region on the corresponding structured light equidistant spherical surface according to the brightness and the position of each sub-region of the acquired structured light pattern, further finding out the sub-region with the maximum light intensity on the structured light equidistant spherical surface and determining the rotating angle of the rotating mechanism corresponding to the sub-region with the maximum light intensity.
2. The eye safety detection device according to claim 1, wherein the structured light projection module to be detected has a structured light exit surface, and the distance between the target and the center point of the structured light exit surface is 150 to 250 mm.
3. The eye safety detecting device according to claim 2, wherein the eye safety detecting device has a Z-axis passing through the center point of the light incident hole and the center point of the structured light emitting surface, and an X-axis and a Y-axis which form a rectangular coordinate system together with the Z-axis, wherein an intersection point of the X-axis and the Y-axis coincides with the center point of the structured light emitting surface.
4. The eye safety detection device according to claim 3, wherein the first light intensity collecting device is a camera, and the camera is adapted to shoot the structured light pattern projected on the target by the structured light projection module to be detected.
5. The eye safety detection device according to claim 4, wherein the camera has a lens center, and a line connecting the lens center and the center point of the structured light exit surface is perpendicular to the target.
6. A human eye safety detection method of a structured light projection module is characterized by comprising the following steps:
1) projecting a structured light pattern to the target by the structured light projection module to be detected;
2) capturing the structured light pattern with a camera;
3) screening out a subarea with the maximum light intensity according to the shot structured light pattern and determining a rotating angle of a rotating mechanism corresponding to the subarea;
4) enabling the to-be-detected structured light projection module to face the integrating sphere, and rotating the to-be-detected structured light projection module to enable a light inlet of the integrating sphere to be opposite to the rotating angle of the rotating mechanism determined in the step 3); and
5) the light intensity of the structured light entering the light inlet hole is detected through the integrating sphere, so that whether the projected structured light of the to-be-detected structured light projection module is safe to human eyes is judged,
wherein, in step 3), the sub-region with the maximum light intensity is the sub-region with the maximum light intensity on the equidistant sphere of the structured light of the to-be-detected structured light projection module, and
in step 3), according to the brightness and position of each sub-region of the collected structured light pattern, the illumination intensity of each sub-region on the corresponding structured light equidistant spherical surface is restored, and then the sub-region with the maximum light intensity on the equidistant spherical surface is found out and the rotation angle of the rotating mechanism corresponding to the sub-region with the maximum light intensity is determined.
7. The detection method according to claim 6, wherein in step 3), the shape and size of each sub-region on the structured light equidistant sphere are determined according to the shape and size of the light inlet hole; for any spherical sub-area on the structured light equidistant sphere, the spherical sub-area is provided with a corresponding plane sub-area positioned in the structured light pattern, and the shape and the size of the plane sub-area are calculated based on the geometric relationship according to the position, the shape and the size of the spherical sub-area.
8. The detection method according to claim 7, wherein in step 3), recovering the illumination intensity of each sub-region on the corresponding equidistant sphere of structured light according to the brightness and position of each sub-region of the acquired structured light pattern comprises:
10) respectively calculating the light intensity of the plane sub-region corresponding to each spherical sub-region according to the collected structured light pattern;
20) obtaining the attenuation of light from the spherical subarea to the corresponding plane subarea according to the position of each spherical subarea;
30) and recovering the light intensity of each spherical sub-region according to the light intensity of the planar sub-region and the obtained attenuation.
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