CN111198444A - Dimension-increasing camera device and light emitting assembly and application thereof - Google Patents

Dimension-increasing camera device and light emitting assembly and application thereof Download PDF

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Publication number
CN111198444A
CN111198444A CN202010105854.1A CN202010105854A CN111198444A CN 111198444 A CN111198444 A CN 111198444A CN 202010105854 A CN202010105854 A CN 202010105854A CN 111198444 A CN111198444 A CN 111198444A
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China
Prior art keywords
light
lens
collimating lens
light emitting
emitting assembly
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CN202010105854.1A
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Chinese (zh)
Inventor
黄河
楼歆晔
孟玉凰
林涛
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Shanghai North Ocean Photonics Technology Co Ltd
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Shanghai North Ocean Photonics Technology Co Ltd
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Priority to CN202010105854.1A priority Critical patent/CN111198444A/en
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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
    • G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
    • G02B27/0927—Systems for changing the beam intensity distribution, e.g. Gaussian to top-hat
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • 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
    • G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
    • G02B27/0938—Using specific optical elements
    • G02B27/095—Refractive optical elements
    • G02B27/0955—Lenses
    • 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
    • G02B27/30—Collimators
    • 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
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/02—Illuminating scene
    • G03B15/03—Combinations of cameras with lighting apparatus; Flash units
    • G03B15/05—Combinations of cameras with electronic flash apparatus; Electronic flash units

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Lenses (AREA)

Abstract

An increasing dimension camera device, a light emitting assembly and an application thereof, wherein the increasing dimension camera device comprises a light receiving unit and a light emitting assembly, wherein the light emitting assembly comprises a laser emitter, at least one light homogenizing element and at least one collimating lens, the laser emitter is used for emitting laser beams, the light homogenizing element and the collimating lens are arranged in an optical path of the beams emitted by the laser emitter, the collimating lens is used for collimating the beams so as to reduce the divergence angle of the beams, and the light homogenizing element is provided with a micro lens array so as to modulate the beams by the micro lens array of the light homogenizing element so as to form an optical field in the light receiving unit.

Description

Dimension-increasing camera device and light emitting assembly and application thereof
Technical Field
The invention relates to the field of camera shooting, in particular to a dimension-increasing camera shooting device and a light emitting assembly and application thereof.
Background
With the development of digital imaging technology, an image pickup apparatus is widely used as an image sensor. For example, a TOF depth camera based on TOF (time of flight) time flight technology for obtaining depth information of a target scene to provide a 3D depth visual effect has been gradually applied to fields such as mobile phones, VR/AR gesture interaction, automobiles, security monitoring devices, smart homes, unmanned aerial vehicles, and smart robots.
The current depth camera module comprises a light emitting component and a light receiving unit, wherein the light emitting component comprises a laser emitter and a light homogenizing element, laser beams are emitted through the laser emitter, the light homogenizing element projects the target scene in a certain field angle, the light receiving unit receives reflected light, and finally a uniform light field is formed in a certain field angle range, so that depth information is obtained.
However, the divergence angle of the laser beam emitted by the laser emitter is generally 20-30 °, the laser beam passing through the dodging element is difficult to meet the projection requirement of a smaller angle, the light energy is dispersed, the boundary of a beam detection area is fuzzy, the detection distance is short, and the laser emitter cannot be applied to the field of application equipment with smaller requirements on the divergence angle of the beam or higher requirements on the light field distribution. For example, in some applications such as sweeping robots, line laser radars or industrial detection, it is generally required that the projected light beam forms a linear rectangular detection area in the target scene, i.e. a light beam detection area with a large angle in one direction and a small angle in another direction, such as 120 ° by 10 ° and 135 ° by 8 °. For another example, for some area-array lidar or certain depth cameras, etc., a longer detection range is generally required, requiring a relatively small beam divergence angle, e.g., 25 ° by 20 °. Or, the beam divergence angle that some special application equipment needs is still less than this laser emitter's beam divergence angle, and obviously, because the light emission subassembly among the current degree of depth camera module can't satisfy such little beam divergence angle, lead to the application effect poor, can't satisfy the market requirement even.
Disclosure of Invention
One advantage of the present invention is to provide an image capturing apparatus with increased dimensions, and a light emitting assembly and an application thereof, wherein the image capturing apparatus has a smaller beam divergence angle compared to an existing depth image capturing module, so that the image capturing apparatus can be applied to some application device fields having smaller beam divergence angles or higher requirements for light field distribution.
Another advantage of the present invention is to provide a dimension-increasing camera device, a light emitting assembly thereof and an application thereof, wherein the dimension-increasing camera device can narrow a beam divergence angle of a laser emitter, and light energy is more concentrated, so that a boundary of a beam detection area is sharper and more obvious, and a detection distance is longer.
Another advantage of the present invention is to provide an enhanced dimensional camera device, a light emitting module thereof and an application thereof, which can form a light beam detection region with a large angle in one direction and a small angle in another direction, such as 120 ° by 10 ° and 135 ° by 8 °, so as to be applicable to some application fields such as a sweeping robot, a line array laser radar, or industrial detection.
Another advantage of the present invention is to provide an image pick-up device, a light emitting assembly thereof and an application thereof, wherein the light beam divergence angle of the image pick-up device can reach 25 degrees by 20 degrees, and even smaller, so that the image pick-up device can be applied to application equipment seeking a longer detection distance, such as an area array laser radar or a specific depth camera.
Another advantage of the present invention is to provide an image capturing apparatus with increased dimensions, a light emitting module and applications thereof, which have simple structure, low cost and wide applicability.
According to an aspect of the present invention, the present invention further provides a light emitting device adapted to a dimension-increasing image capturing apparatus, wherein the dimension-increasing image capturing apparatus includes a light receiving unit, wherein the light emitting device includes:
a laser transmitter;
at least one dodging element; and
the light homogenizing element is provided with a micro lens array, so that the light beam is modulated by the micro lens array of the light homogenizing element, and a specified light field is formed at the light receiving unit.
In some embodiments, wherein the dodging element is located between the collimating lens and the laser emitter.
In some embodiments, the collimating lens is spaced from the dodging element by a predetermined distance.
In some embodiments, the dodging element and the collimating lens are of a unitary structure.
In some embodiments, the integrated structure comprises a substrate, wherein one side of the substrate has the microlens array to form the dodging element, and the other side of the substrate forms the collimating lens.
In some embodiments, the other side of the substrate is a fresnel surface or a convex surface.
In some embodiments, wherein the collimating lens is located between the light unifying element and the laser emitter.
In some embodiments, wherein the collimating lens is comprised of a single lens.
In some embodiments, the collimating lens is composed of two lenses, which are respectively a first collimating lens and a second collimating lens, wherein the first collimating lens and the second collimating lens are sequentially disposed between the laser emitter and the light uniformizing element, or the laser emitter, the light uniformizing element, the first collimating lens and the second collimating lens are sequentially disposed.
In some embodiments, the light incident surface of the first collimating lens is a convex surface or a fresnel surface, and the light emitting surface is a concave surface, wherein the light incident surface of the second collimating lens is a flat surface or a concave surface, and the light emitting surface is a convex surface or a fresnel surface.
In some embodiments, the collimating lens is comprised of more than two singlet lenses.
In some embodiments, wherein the collimating lens is selected from: one of a spherical lens, a plano-convex lens, a biconvex lens, a meniscus lens, an aspherical lens, and a fresnel lens.
In some embodiments, wherein the collimating lens is a convex lens, wherein the beam of light is projected to the target scene forming a beam detection zone of a large angle in one direction and a small angle in another direction, wherein the range of the large angle is greater than or equal to 100 °, and wherein the small angle is less than 20 °.
In some embodiments, wherein the total length of the light emitting assembly is less than or equal to 20 mm.
In some embodiments, wherein the total length of the light emitting assembly is less than or equal to 4.4 mm.
In some embodiments, wherein the collimating lens is a fresnel lens, wherein a beam emission angle of the beam projected onto the target scene is less than 25 ° by 20 °.
In some embodiments, wherein the total length of the light emitting assembly is less than or equal to 3.93 mm.
In some embodiments, the microlens array is composed of a group of microlens units, wherein each microlens unit is different from another microlens unit, so that the light beam does not form light and dark stripes in the far field after passing through the light uniformizing element.
According to another aspect of the present invention, the present invention further provides a method for manufacturing a light emitting element of a dimension-increasing camera apparatus, wherein the dimension-increasing camera apparatus includes a light receiving unit, wherein the manufacturing method includes:
arranging at least one collimating lens and at least one dodging element in a light path of a light beam emitted by a laser emitter, wherein the collimating lens is used for collimating the light beam so as to reduce the divergence angle of the light beam, and the dodging element is provided with a micro lens array so that the light beam is modulated by the micro lens array of the dodging element to form a specified light field in the light receiving unit of the dimension-increasing camera device.
In some embodiments, wherein the dodging element is located between the collimating lens and the laser emitter.
In some embodiments, the light homogenizing element and the collimating lens are of a split structure.
In some embodiments, the dodging element and the collimating lens are of a unitary structure.
In some embodiments, the collimating lens and the dodging element are formed on opposite sides of a substrate, respectively.
In some embodiments, wherein the collimating lens is located between the light unifying element and the laser emitter.
In some embodiments, wherein the collimating lens is selected from: one of a spherical lens, a plano-convex lens, a biconvex lens, a meniscus lens, an aspherical lens, and a fresnel lens.
Drawings
Fig. 1 is a block diagram of an upscaling camera according to a preferred embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an implementation manner of a light emitting component of the dimension-increasing camera device according to the first implementation manner of the above preferred embodiment of the invention.
Fig. 3 is a schematic structural diagram of an implementation manner of a light emitting component of the dimension-increasing camera device according to the first implementation manner of the above preferred embodiment of the invention.
Fig. 4 is a schematic structural diagram of an implementation manner of a light emitting component of the dimension-increasing camera device according to the first implementation manner of the above preferred embodiment of the invention.
Fig. 5 is a schematic structural diagram of an implementation manner of a light emitting component of the dimension-increasing camera device according to the first implementation manner of the preferred embodiment of the invention.
Fig. 6 is a schematic structural diagram of an implementation manner of a light emitting component of the dimension-increasing camera device according to the second implementation manner of the above preferred embodiment of the invention.
Fig. 7 is a schematic structural diagram of an implementation manner of a light emitting component of the dimension-increasing camera device according to the second implementation manner of the above preferred embodiment of the invention.
Fig. 8 is a partial parameter table of the light emitting assembly of the dimension-increasing camera device according to the above preferred embodiment of the invention, which realizes the light path with a large angle in one direction and a small angle in the other direction.
Fig. 9 is a schematic diagram of an optical path structure of a light emitting assembly of the dimension-increasing camera device according to the above preferred embodiment of the invention, which realizes a large angle in one direction.
Fig. 10 is a schematic diagram of an optical path structure of a light emitting assembly of the dimension-increasing camera device according to the above preferred embodiment of the invention, which realizes a small angle in one direction.
Fig. 11 is a schematic diagram of the light emitting assembly of the dimension-increasing camera device according to the above preferred embodiment of the invention, which realizes the output illuminance of the light beam at 1m with a large angle in one direction and a small angle in the other direction.
Fig. 12 is a schematic diagram of the horizontal output light intensity distribution curve of the light emitting assembly of the dimension increasing camera device according to the above preferred embodiment of the invention, which realizes a light beam with a large angle in one direction and a small angle in another direction.
Fig. 13 is a schematic diagram of the vertical output light intensity distribution curve of the light emitting assembly of the dimension increasing camera device according to the above preferred embodiment of the invention, which realizes the light beams with a large angle in one direction and a small angle in the other direction.
Fig. 14 is a partial parameter table of the light emitting component of the dimension-increasing camera device according to the above preferred embodiment of the invention, which realizes the light path with small angles in both directions.
Fig. 15 is a schematic diagram of an optical path structure of a light emitting assembly of the dimension-increasing camera device according to the above preferred embodiment of the invention, wherein the light emitting assembly realizes a small angle in both directions.
Fig. 16 is a schematic diagram of the light emitting assembly of the dimension-increasing camera device according to the above preferred embodiment of the invention, which realizes the output illuminance of the light beam at 1m, where both directions are small angles.
Fig. 17 is a schematic diagram of a horizontal output light intensity distribution curve of the light emitting assembly of the dimension-increasing camera device according to the above preferred embodiment of the invention, which realizes light beams with small angles in both directions.
Fig. 18 is a schematic diagram of a vertical output light intensity distribution curve of the light emitting assembly of the dimension-increasing camera device according to the above preferred embodiment of the invention, which realizes light beams with small angles in both directions.
Fig. 19 is a schematic structural diagram of a light emitting assembly of the dimension-increasing camera according to the third implementation mode of the preferred embodiment of the invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular orientation, and thus the above terms are not to be construed as limiting the present invention.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
As shown in fig. 1 to 19, the dimension-increasing camera device and the light emitting assembly thereof according to a preferred embodiment of the present application are shown, and as shown in fig. 1, the dimension-increasing camera device includes a light receiving unit 10 and a light emitting assembly 20, wherein the light receiving unit 10 is disposed at a position for receiving a light beam reflected by a target scene from the light emitting assembly 20, that is, the light emitting assembly 20 emits a light beam to the target scene, and after the light beam is emitted by the target scene, the light receiving unit 10 receives the reflected light for obtaining image information.
In this embodiment, the dimension-increasing imaging device is used for capturing and acquiring image information of a target scene. Preferably, the dimension-increasing camera device can acquire depth information of a target scene to acquire three-dimensional image information. Further, the dimension-increasing camera device acquires depth information of the target scene based on a TOF time flight technology. Or, the dimension-increasing camera device provided by the invention is matched with other camera modules to provide dimension-increasing information for image information shot by other camera modules, wherein the dimension-increasing information refers to depth information of a target scene which can be acquired by the dimension-increasing camera device. Alternatively, the dimension-increasing camera device may also acquire information of other dimensions, for example, the dimension information may be information of different angles, depths, different functions, different features such as colors, physical dimensions, or time dimensions. Or the dimension information comprises color information for acquiring an RGB color image and the like. Or the dimension information includes time dimension information, that is, the dimension-increasing camera device can obtain image information within a certain time for recording video images and the like, which is not limited herein.
According to different application scenes, the dimension increasing camera device is applied to different application equipment, wherein the dimension increasing camera device acquires the image information of the target scene and sends the image information to the application equipment, and the image information is processed by the application equipment and gives corresponding actions or results and the like. The application equipment comprises but is not limited to a sweeping robot, a linear array laser radar, an area array laser radar, a depth camera, living body detection, a mobile phone, face recognition, iris recognition, AR/VR technology, robot recognition, robot risk avoidance, smart home, an automatic driving vehicle or an unmanned aerial vehicle and the like, the application range is wide, and the application equipment is suitable for diversified application scenes.
The light receiving unit 10 is a near-infrared camera module, and includes at least one camera lens group, at least one TOF sensor, a circuit board and a housing, wherein the camera lens group, the TOF sensor and the circuit board are all mounted on the housing, wherein a light beam emitted by the light emitting assembly 20 reaches the TOF sensor through a reflected light reflected by a target scene via the camera lens group, and is converted into an electrical signal to be transmitted to the circuit board, wherein the circuit board is electrically connected to the light emitting assembly 20 and the TOF sensor, wherein the circuit board is used for processing and obtaining depth information to obtain image information. The circuit board is electrically connected to the application device to transmit the image information to the application device. In other words, the light receiving unit 10 acquires depth information of a target scene based on TOF technology and feeds back the depth information to the application device.
As shown in fig. 2 to fig. 7, further, the light emitting assembly 20 includes a laser emitter 21, at least one light homogenizing element 22, and at least one collimating lens 23, wherein the laser emitter 21 is configured to emit a laser beam, wherein the light homogenizing element 22 and the collimating lens 23 are sequentially disposed in an optical path of the beam 210 emitted by the laser emitter 21, wherein the collimating lens 23 is configured to collimate the beam 210 for reducing a beam divergence angle, wherein the light homogenizing element 22 has a micro lens array 221, so that the beam 210 is modulated by the micro lens array 221 of the light homogenizing element 22 to form a specified light field at the light receiving unit 10, so that the light receiving unit 10 can obtain image information.
That is to say, the light beam 210 emitted by the laser emitter 21 is collimated by the collimating lens 23 to narrow the light beam emission angle of the laser emitter 21, so that the dimension-increasing camera device has a smaller light beam divergence angle, the light energy is more concentrated, the boundary of a light beam detection area is sharper and more obvious, and the detection distance is longer, so that the dimension-increasing camera device can be applied to some application device fields with smaller light beam divergence angle or higher requirements on light field distribution.
The laser emitter 21 is adapted to emit a laser beam 210, such as infrared light, for example. Alternatively, the laser emitter 21 may be implemented as a laser emitting array, or a vertical cavity surface laser emitter. The laser transmitter 21 can be preset to emit the light beam 210 at a certain angle or direction, wherein the light beam 210 should be irradiated to a desired field angle range according to a certain light field distribution. The light beam 210 emitted by the laser emitter 21 has a wavelength, wherein the wavelength of the light beam 210 emitted by the laser emitter is substantially within a range of 800nm to 1100 nm. The wavelength of the light beam 210 emitted by the laser emitter 21 is generally preset to 808nm, 830nm, 850nm, 860nm, 940nm, 945nm, 975nm, 980nm, 1064nm, etc. according to different imaging requirements, which is not limited herein.
The dodging element 22 is used to make the light beams 210 passing through it not interfere, i.e. form bright and dark fringes in the far field, so as to form a more uniform light field, wherein the dodging element 22 is located in the optical path of the light beams 210 emitted by the laser emitter 21, so that the light beams 210 pass through the dodging element 22 as completely as possible. Of course, the number of the light uniformizing elements 22 may be one, two or even more.
Further, the microlens array 221 of the dodging element 22 is composed of a set of microlens unit arrangements, wherein partial parameters or random variables of the microlens units are different, and are arranged in a non-periodic regular manner. The light beams 210 do not interfere after being acted by the microlens array 221, and because the microlens units are different and are arranged non-periodically and regularly, the problem that the light beams 210 interfere with the conventional regularly arranged microlens array to form light and dark fringes is effectively avoided, so that the light beams 210 do not interfere with each other to form a uniform light field at the light receiving unit 10, the integrity and reliability of depth information are ensured, and the image pickup quality of the dimension-added information acquisition device is improved.
The collimating lens 23 is used for collimating the light beam 210, wherein the collimating lens 23 is located in the optical path of the light beam 210 emitted by the laser emitter 21, and the collimating lens 23 includes, but is not limited to, a spherical lens, a plano-convex lens, a biconvex lens, a meniscus lens, an aspheric lens, a fresnel lens, and the like.
In a first implementation manner of the present preferred embodiment, the light uniformizing element 22 and the collimating lens 23 are of a split structure, wherein the light uniformizing element 22 and the collimating lens 23 are both made of a transparent material, such as a plastic material, a resin material, or a glass material, without limitation, and the light uniformizing element 22 and the collimating lens 23 are sequentially disposed and spaced by a certain preset distance to meet different imaging requirements.
Further, the dodging element 22 has a first side surface 2201 and a second side surface 2202 opposite to each other, wherein the microlens array 221 is located on the first side surface 2201, and the light beam 210 enters from the microlens array 221 on the first side surface 2201 and exits from the second side surface 2202 to form the light beam 210. It is understood that the area ratio of the microlens array 221 to the first side 2201 can be preset, and preferably, the microlens array 221 is distributed over the first side 2201. Alternatively, the second side surface 2202 may be a plane, a curved surface, a microlens array surface, an irregular curved surface, and the like, without being limited thereto.
The collimating lens 23 has a light emitting surface 231 and a light incident surface 232 on opposite sides, wherein the light beam 210 enters from the light incident surface 232 and exits from the light emitting surface 231 to form the collimated light beam 210. The light emitting surface 231 includes, but is not limited to, a convex surface, a spherical surface, an aspherical surface, a fresnel surface, etc., and the light incident surface 232 includes, but is not limited to, a plane surface, a convex surface, a concave surface, etc.
Further, the dodging element 22 is located between the collimating lens 23 and the laser emitter 21, wherein the light beam 210 emitted by the laser emitter 21 passes through the dodging element 22 and the collimating lens 23 in sequence. That is to say, the light beam 210 is first acted by the dodging element 22 without interference, and then collimated by the collimating lens 23 to form the collimated light beam 210, so as to reduce the emission angle of the light beam, so as to form a light beam detection area by projection in a target scene, and finally form a uniform light field in the light receiving unit 10. As shown in fig. 2, the collimating lens 23 is a convex lens, such as a spherical lens or an aspheric lens, and as shown in fig. 4, the collimating lens 23 is a fresnel lens.
It should be noted that the first side surface 2201 of the dodging element 22 faces the emitting surface of the laser emitter 21 for emitting the light beam 210, wherein the light emitting surface 231 of the collimating lens 23 faces away from the second side surface 2202 of the dodging element 22.
It is understood that the second side 2202 of the dodging element 22 may be spaced apart from the incident surface 232 of the collimating lens 23 by a predetermined distance. Or, the second side surface 2202 of the light uniformizing element 22 and the light incident surface 232 of the collimating lens 23 are attached together, or fixed together by means of bonding, clamping, welding, or the like, so as to improve stability and prevent shaking or shaking, which is not limited herein.
Optionally, the collimating lens 23 is located between the dodging element 22 and the laser emitter 21, wherein the light beam 210 emitted by the laser emitter 21 passes through the collimating lens 23 and the dodging element 22 in sequence. That is to say, the light beam 210 is collimated by the collimating lens 23 to form the collimated light beam 210, so as to reduce the emission angle of the light beam, and then the light-homogenizing element 22 acts on the light beam to form a light beam detection area by projection in a target scene, and finally a uniform light field is formed in the light-receiving unit 10. As shown in fig. 3, the collimating lens 23 is a convex lens, such as a spherical lens or an aspheric lens, and as shown in fig. 5, the collimating lens 23 is a fresnel lens.
It should be noted that the light emitting surface 231 of the collimating lens 23 faces away from the emitting surface of the laser emitter 21 for emitting the light beam 210, wherein the first side surface 2201 of the dodging element 22 faces the light incident surface 232 of the collimating lens 23.
In the second embodiment of the preferred embodiment, the dodging element 22 and the collimating lens 23 are of an integral structure, so as to reduce the size, save materials and facilitate installation.
Further, the integrated structure includes a substrate 24, wherein one side of the substrate 24 has the microlens array 221 to form the light uniformizing element 22, and the other side is the light exiting surface 231 to form the collimating lens 23, that is, two opposite sides of the substrate 24 are the light uniformizing element 22 and the collimating lens 23, respectively. As shown in fig. 6, the light emitting surface 231 is a spherical surface or a convex surface, and as shown in fig. 7, the light emitting surface 231 is a fresnel surface.
It should be noted that the dodging element 22 faces the emitting surface of the laser emitter 21 emitting the light beam 210, and the collimating lens 23 faces away from the emitting surface of the laser emitter 21 emitting the light beam 210. That is, the light beam 210 enters from the dodging element 22 and exits from the collimating lens 23 to form the light beam 210 with a reduced beam emission angle without interference, so as to form a beam detection area on the target scene by projection, and finally form a uniform light field on the light receiving unit 10.
As shown in fig. 8 to 13, in the preferred embodiment, the collimating lens 23 is a convex lens, that is, the light emitting surface 231 of the collimating lens 23 is a convex surface or a spherical surface, wherein the light beam 210 collimated by the collimating lens 23 can be projected to form a light beam detection area with a large angle in one direction and a small angle in another direction, wherein the range of the large angle is greater than or equal to 100 °, and the small angle is smaller than 20 °. For example, the light beam emission angle of the light beam 210 is 120 ° × 10 °, 135 ° × 8 °, and the like, so that the method can be applied to some application fields such as a sweeping robot, a line laser radar, industrial detection, and the like. Further, the total length of the light emitting assembly is less than or equal to 20 mm. Preferably, the total length of the light emitting assembly 20 is equal to or less than 4.4mm to reduce the footprint and facilitate installation.
Fig. 8 is a partial parameter table of the optical path of the light emitting assembly 20 of the dimension-increasing camera device implementing a large angle in one direction and a small angle in another direction, wherein the size of the laser emitter 21 is 1.015 × 1.015mm, wherein the central wavelength of the light beam 210 emitted by the laser emitter 21 is 850nm, wherein the beam divergence angle of the light beam 210 is 120 ° × 5 °, and wherein the total length of the light emitting assembly 20 is 4.4 mm. Fig. 9 is a schematic diagram of an optical path structure of the light emitting assembly 20 of the dimension-increasing camera device for realizing a large angle in one direction. Fig. 10 is a schematic diagram of an optical path structure of the light emitting assembly 20 of the dimension-increasing camera device to realize a small angle in one direction. Fig. 11 shows the output illuminance of the light emitting assembly 20 of the dimension-increasing camera device at 1m, where the light emitting assembly realizes a large angle in one direction and a small angle in the other direction. Fig. 12 is a schematic diagram of the light emitting assembly 20 of the dimension-increasing camera device implementing a horizontal output light intensity distribution curve of a light beam with a large angle in one direction and a small angle in the other direction. Fig. 13 is a schematic diagram of a vertical output light intensity distribution curve of a light beam with a large angle in one direction and a small angle in another direction realized by the light emitting assembly 20 of the dimension increasing camera device.
Optionally, as shown in fig. 14 to 18, the collimating lens 23 is a fresnel lens, wherein the light emitting surface 231 of the collimating lens 23 is a fresnel surface, and a beam divergence angle of the light beam 210 collimated by the collimating lens 23 can reach 25 ° by 20 °, or even smaller, so as to realize a small angle in both directions, thereby being suitable for an application device seeking a longer detection distance, such as an area array laser radar or a specific depth camera. Still further, the total length of the light emitting assembly is less than or equal to 20 mm. Preferably, the collimating lens 23 and the dodging element 22 are of an integral structure, wherein the total length of the light emitting assembly is less than or equal to 3.93mm, so as to reduce the occupied size and facilitate installation.
Fig. 14 is a partial parameter table of the light emitting assembly 20 of the dimension-increasing camera device implementing light paths with small angles in both directions, wherein the size of the laser emitter 21 is 1 × 0.835mm, wherein the central wavelength of the light beam 210 emitted by the laser emitter 21 is 940nm, wherein the beam divergence angle of the light beam 210 is 28 ° 20 °, and wherein the total length of the light emitting assembly 20 is 3.93 mm. Fig. 15 is a schematic structural diagram of an optical path of the light emitting assembly 20 of the dimension-increasing camera device, where both directions are at a small angle. Fig. 16 shows that the light emitting assembly 20 of the dimension-increasing camera device realizes the output illuminance of a light beam with small angles in both directions at 1 m. Fig. 17 is a schematic diagram of a horizontal output light intensity distribution curve of the light emitting assembly 20 of the dimension-increasing camera device for realizing light beams with small angles in both directions. Fig. 18 is a schematic diagram of a vertical output light intensity distribution curve of the light emitting assembly 20 of the dimension-increasing camera device for realizing light beams with small angles in both directions.
As shown in fig. 19, in the third embodiment of the present preferred embodiment, the collimating lens 22 is not limited to be composed of a single lens, and may include two or more single lenses. For example, the collimating lens 23 is composed of two single lenses, which are a first collimating lens 23A and a second collimating lens 23B, respectively, wherein the first collimating lens 23A and the second collimating lens 23B are sequentially disposed between the laser emitter 21 and the dodging element 22. The light incident surface 232A of the first collimating lens 23A faces the laser emitter 21, the light emitting surface 231A of the first collimating lens 23A faces the light incident surface 232B of the second collimating lens 23B, and the light emitting surface 231B of the second collimating lens 23B faces the light uniformizing element 22. That is to say, the light beam 210 emitted by the laser emitter 21 is sequentially projected to a target scene through the first collimating lens 23A, the second collimating lens 23B and the dodging element 22 to form a light beam detection area, so as to form a light field at the light receiving unit 10.
Preferably, the first collimating lens 23A is a meniscus lens, wherein the light incident surface 232A of the first collimating lens 23A is a convex surface, the light emitting surface 231A of the first collimating lens 23A is a concave surface, and an aperture of the convex surface of the light incident surface 232A is larger than an aperture of the concave surface of the light emitting surface 231A, so that the light beam 210 passes through the first collimating lens 23A to form the light beam 210 in the predetermined direction. The second collimating lens 23B is a plano-convex lens or a meniscus lens, wherein the light incident surface 232B of the second collimating lens 23B is a plane or a concave surface, wherein the light emergent surface 231B of the second collimating lens 23B is a convex surface, and wherein the concave degree of the light incident surface 232B is smaller than the convex degree of the light emergent surface 231B. Therefore, the first collimating lens 23A and the second collimating lens 23B cooperate with each other, so that the beam emitting angle of the beam 210 is smaller and the detection distance is longer.
It is understood that the light unifying element 22 may be located between the laser emitter 21 and the first collimating lens 23A, that is, the laser emitter 21, the light unifying element 22, the first collimating lens 23A and the second collimating lens 23B are sequentially disposed, and the corresponding technical effects can also be achieved, and the present invention is not limited herein.
Further, the microlens array 221 of the dodging element 22 is a random-regularized microlens array in which partial parameters or random variables of the microlens units are different and are arranged non-periodically and regularly. The light beams 210 do not interfere after being acted by the microlens array, and because the microlens units are different and are arranged non-periodically and regularly, the problem that light beams interfere through the conventional regularly arranged microlens array to form light and dark fringes is effectively avoided, so that the light beams do not interfere to form a uniform light field at the light receiving unit 10, the integrity and reliability of depth information are ensured, and the image pickup quality of the dimension information acquisition device is improved.
In other words, part of the parameters or random regular variables of each microlens unit are preset within a certain range, so that each microlens unit has a shape and size or a spatial arrangement mode which are randomly regulated, that is, the shape and size between any two microlens units are different from each other, and the arrangement mode is irregular, so that light beams are prevented from generating interference during spatial propagation, the dodging effect is improved, and the regulation and control on the required facula illumination pattern and light intensity distribution of the target scene are met.
Preferably, the microlens unit has an aspherical surface type having an optical structure for a power function. For example, the microlens unit may be a concave lens or a convex lens, and is not particularly limited herein. The regulation and control of the light spot illumination pattern and the light intensity distribution of the required target scene are realized by carrying out random regularization treatment, namely a modulation process on partial parameters or variables of the micro-lens unit. Some parameters of the microlens unit include, but are not limited to, the curvature radius, the conic constant, the aspheric coefficients, the shape and size of the effective clear aperture of the microlens unit, i.e., the cross-sectional profile of the microlens unit in the X-Y plane, the spatial arrangement of the microlens unit, and the surface profile of the microlens unit along the Z-axis direction.
According to the shooting requirements of different application scenes, part of parameters or variables of the microlens units of the microlens array 221 are preset to be randomly and regularly valued in a corresponding range, so that the light spot illumination pattern and the light intensity distribution of the light field of the corresponding target scene are regulated and controlled, and the light field is suitable for different shooting scenes in a matched manner.
More specifically, the method for designing the microlens array 221 of the dodging element 22 includes the steps of:
s01, dividing areas where the micro lens units are located on the surface of the base material, wherein the cross-sectional shapes or the sizes of the areas where the micro lens units are located are different, and the areas are rectangular, circular, triangular, trapezoidal, polygonal or other irregular shapes;
s02, establishing a global coordinate system (X, Y, Z) for the entire microlens array 221, establishing a local coordinate system (xi, yi, zi) for each individual microlens unit, and the center coordinate of the local coordinate system is (X0, Y0, Z0);
s03, for each microlens unit, the surface profile along the Z-axis direction is expressed by a curved function f:
Figure BDA0002387752750000131
where ρ is2＝(xi-x0)2+(yi-y0)2.
Wherein R is a radius of curvature of the microlens unit, K is a conic constant, Aj is an aspherical coefficient, and ZOffsetIs the offset in the Z-axis direction corresponding to each microlens unit.
It should be noted that the curvature radius R, the conic constant K, and the aspheric coefficient Aj of the microlens unit are randomly regulated in a certain range according to an application scenario used by the application terminal. On the basis of carrying out random regularization processing on parameters such as curvature radius R, a conical constant K and an aspheric surface coefficient Aj of the microlens units within a preset range, wherein the parameters such as the curvature radius R, the conical constant K and the aspheric surface coefficient Aj of the microlens units are subjected to random regularization processing within a certain range, and the coordinate of each microlens unit is converted into the global coordinate system (X, Y, Z) from the local coordinate system (xi, yi, zi) so that the offset Z along the Z-axis direction corresponding to each microlens unit is enabled to be in a way thatOffsetRandom regularization is performed within a range such that the surface profile of each microlens unit in the Z-axis direction is randomly regularizedThe interference of the light beams is avoided, so that the light uniformizing effect is achieved.
Alternatively, the design method of the microlens array 221 of the light uniformizing element 22 may be further implemented as including the steps of:
s101, dividing areas where the micro-lens units are located on the surface of a base material, wherein the cross-sectional shapes or the sizes of the areas where the micro-lens units are located are basically consistent;
s102, establishing a global coordinate system (X, Y, Z) for the entire microlens array 221, establishing a local coordinate system (xi, yi, zi) for each individual microlens unit, and the center coordinate of the corresponding region is (X0, Y0, Z0), wherein the center coordinate of the region represents the initial center position of the corresponding microlens unit;
s103, setting the real central position of each micro-lens unit to be respectively added with a random offset X in the X-axis direction and the Y-axis direction at the central coordinate of the areaOffset、YOffset(ii) a And
s104, for each microlens unit, the surface profile of the microlens unit along the Z-axis direction is expressed by a curved function f:
Figure BDA0002387752750000141
where ρ is2＝(xi-x0-XOffset)2+(yi-y0-YOffset)2。
Wherein R is a radius of curvature of the microlens unit, K is a conic constant, Aj is an aspherical coefficient, and ZOffsetIs the offset in the Z-axis direction corresponding to each microlens unit.
On the other hand, the preferred embodiment further provides a method for manufacturing the light emitting assembly 20 of the dimension-increasing camera device, including:
arranging at least one said collimating lens 23 and at least one said dodging element 22 in the optical path of said light beam 210 emitted by said laser emitter 21, wherein said collimating lens 23 is used for collimating said light beam 210 for reducing the divergence angle of the light beam, wherein said dodging element 22 has said microlens array 221, so that said light beam 210 is modulated by said microlens array 221 of said dodging element 22 without interference, and a specified optical field is formed at said light receiving unit.
In an embodiment of the present application, in the manufacturing method, the dodging element 22 is located between the collimating lens 23 and the laser emitter 21.
In an embodiment of the present application, in the manufacturing method, the light uniformizing element 22 and the collimating lens 23 are in a split structure.
In an embodiment of the present application, in the manufacturing method, the light uniformizing element 22 and the collimating lens 23 are of an integral structure.
In an embodiment of the present application, in the manufacturing method, the collimating lens 23 and the dodging element 22 are respectively formed on two opposite sides of the substrate 24.
In an embodiment of the present application, in the manufacturing method, the collimating lens 23 is located between the dodging element 22 and the laser emitter 21.
In an embodiment of the present application, in the manufacturing method, the collimating lens 23 is selected from: one of a spherical lens, a plano-convex lens, a biconvex lens, a meniscus lens, an aspherical mirror and a fresnel lens, or a lens group consisting of a plurality of the above single lenses.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.

Claims (25)

1. A light emitting module adapted to a dimension-increasing camera device, wherein the dimension-increasing camera device comprises a light receiving unit, the light emitting module comprising:
a laser transmitter;
at least one dodging element; and
at least one collimating lens, wherein the laser emitter is configured to emit a laser beam, wherein the dodging element and the collimating lens are disposed in an optical path of the beam emitted by the laser emitter, wherein the collimating lens is configured to collimate the beam for reducing a beam divergence angle, wherein the dodging element has a micro lens array for modulation of the beam by the micro lens array of the dodging element for forming a specified optical field at the light receiving unit.
2. The light emitting assembly of claim 1, wherein the dodging element is located between the collimating lens and the laser emitter.
3. The light emitting assembly of claim 2, wherein the collimating lens is a predetermined distance from the light unifying element.
4. The light emitting assembly of claim 2, wherein the light homogenizing element is a unitary structure with the collimating lens.
5. The light emitting assembly of claim 4, wherein the unitary structure comprises a substrate having the microlens array on one side to form the light unifying elements and the collimating lens on the other side.
6. The light emitting assembly of claim 5, wherein the other side of the substrate is a Fresnel surface or a convex surface.
7. The light emitting assembly of claim 1, wherein the collimating lens is located between the light unifying element and the laser emitter.
8. The light emitting assembly of claim 2 or 7, wherein the collimating lens is comprised of a single lens.
9. The light emitting assembly of claim 7, wherein the collimating lens is comprised of two singlet lenses, a first collimating lens and a second collimating lens, respectively, wherein the first collimating lens and the second collimating lens are sequentially disposed between the laser emitter and the dodging element.
10. The light emitting assembly of claim 2, wherein the collimating lens is composed of two single lenses, which are a first collimating lens and a second collimating lens, respectively, wherein the laser emitter, the dodging element, the first collimating lens, and the second collimating lens are disposed in sequence.
11. The light emitting assembly of claim 9 or 10, wherein the light incident surface of the first collimating lens is a convex surface or a fresnel surface, and the light emitting surface is a concave surface, wherein the light incident surface of the second collimating lens is a flat surface or a concave surface, and the light emitting surface is a convex surface or a fresnel surface.
12. The light emitting assembly of claim 2 or 7, wherein the collimating lens is comprised of more than two singlet lenses.
13. The light emitting assembly of claim 1, wherein the collimating lens is selected from the group consisting of: one of a spherical lens, a plano-convex lens, a biconvex lens, a meniscus lens, an aspherical lens and a fresnel lens, or a lens group consisting of the above single lenses.
14. The light emitting assembly of claim 1, wherein the beam of light is projected onto the target scene forming a beam detection zone of a large angle in one direction and a small angle in another direction, wherein the large angle is in a range equal to or greater than 100 °, and wherein the small angle is less than 20 °.
15. The light emitting assembly of claim 1, wherein the total length of the light emitting assembly is less than or equal to 20 mm.
16. The light emission assembly of claim 1, wherein the collimating lens is a fresnel lens, wherein a beam emission angle of the light beam projected onto a target scene is less than 25 ° by 20 °.
17. The light emitting assembly of claim 16, wherein the total length of the light emitting assembly is less than or equal to 20 mm.
18. The light emitting module of any one of claims 1 to 7, wherein the microlens array is formed by arranging a plurality of microlens units, wherein each microlens unit is different from another microlens unit, so that the light beams do not interfere with each other after passing through the light homogenizing element.
19. A method for manufacturing a light emitting module of an image pickup apparatus, wherein the image pickup apparatus includes a light receiving unit, the method comprising:
arranging at least one collimating lens and at least one dodging element in a light path of a light beam emitted by a laser emitter, wherein the collimating lens is used for collimating the light beam so as to reduce the divergence angle of the light beam, and the dodging element is provided with a micro lens array so that the light beam is modulated by the micro lens array of the dodging element to form a specified light field in the light receiving unit of the dimension-increasing camera device.
20. The method of manufacturing of claim 19, wherein the dodging element is located between the collimating lens and the laser emitter.
21. The method of manufacturing of claim 20, wherein the light homogenizing element and the collimating lens are a split structure.
22. The method of manufacturing of claim 20, wherein the light homogenizing element is a unitary structure with the collimating lens.
23. The method of claim 22, wherein the collimating lens and the dodging element are formed on opposite sides of a substrate.
24. The method of manufacturing of claim 19, wherein the collimating lens is located between the light unifying element and the laser emitter.
25. The manufacturing method according to any one of claims 19 to 24, wherein the collimator lens is selected from: one of a spherical lens, a plano-convex lens, a biconvex lens, a meniscus lens, an aspherical lens and a fresnel lens, or a lens group consisting of the above single lenses.
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