CN111830723B - Transmitting module, depth sensor and electronic equipment - Google Patents

Transmitting module, depth sensor and electronic equipment Download PDF

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Publication number
CN111830723B
CN111830723B CN202010738811.7A CN202010738811A CN111830723B CN 111830723 B CN111830723 B CN 111830723B CN 202010738811 A CN202010738811 A CN 202010738811A CN 111830723 B CN111830723 B CN 111830723B
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China
Prior art keywords
light
assembly
module
optical lens
light emitting
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CN202010738811.7A
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Chinese (zh)
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CN111830723A (en
Inventor
张学勇
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Guangdong Oppo Mobile Telecommunications Corp Ltd
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Guangdong Oppo Mobile Telecommunications Corp Ltd
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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
    • G02B27/10—Beam splitting or combining systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • 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
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/0816—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements
    • G02B26/0833—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements the reflecting element being a micromechanical device, e.g. a MEMS mirror, DMD
    • 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
    • G02B27/10—Beam splitting or combining systems
    • G02B27/1086—Beam splitting or combining systems operating by diffraction only

Abstract

The present disclosure relates to a transmission module, a depth sensor and an electronic device, wherein the transmission module comprises: the device comprises a light-emitting component, a beam splitting component, an optical lens and an adjusting component, wherein the light-emitting component is used for providing one or more beams of light sources; the beam splitting assembly is arranged on the light emitting side of the light emitting assembly and is used for converting at least one light source in the light sources provided by the light emitting assembly into a plurality of light beams; the optical lens is arranged on one side of the beam splitting assembly, which is far away from the light emitting assembly; the adjusting component is connected with the optical lens and used for adjusting the relative position relationship between the optical lens and the light-emitting component so as to adjust the propagation direction of the light beam. The speckle density in the depth image can be increased.

Description

Transmitting module, depth sensor and electronic equipment
Technical Field
The utility model relates to the technical field of electronic equipment, particularly, relate to a transmission module and depth sensor, electronic equipment.
Background
In a computer vision system, depth images in different application scenes are often required to be acquired, and then three-dimensional distance measurement is performed. For example, depth measurements are needed in indoor mapping or navigation applications. At present, speckle depth images can be obtained through a speckle type indirect time flight technology, and three-dimensional distance measurement is carried out according to the depth images. However, in practical applications, the density of the speckle on the depth image is low due to the limited density of the light beam emitted by the depth sensor emitting module.
It is noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure and therefore may include information that does not constitute prior art that is already known to a person of ordinary skill in the art.
Disclosure of Invention
An object of the present disclosure is to provide a transmitting module, a depth sensor and an electronic device, so as to overcome the problem that the density of speckles on a depth image is low due to the limited density of light beams transmitted by the transmitting module of the depth sensor at least to a certain extent.
According to a first aspect of the present disclosure, there is provided a transmit module, comprising:
a light emitting assembly for providing one or more beams of light;
the beam splitting assembly is arranged on the light emitting side of the light emitting assembly and used for converting at least one light source in the light sources provided by the light emitting assembly into a plurality of light beams;
the optical lens is arranged on one side, far away from the light-emitting component, of the beam splitting component;
the adjusting assembly is connected with the optical lens and used for adjusting the relative position relationship between the optical lens and the beam splitting assembly so as to adjust the propagation direction of the light beam.
According to a second aspect of the present disclosure, there is provided a depth sensor comprising:
the transmitting module as described above;
the receiving module is arranged on one side of the transmitting module and used for receiving reflected light.
According to a third aspect of the present disclosure, there is provided an electronic device comprising the depth sensor described above.
The transmission module that this disclosed embodiment provided, adjust optical lens and light emitting component's relative position through adjusting part, the optical lens that makes a plurality of light beams that beam splitting component divide is transmitted to the different positions of barrier through the different positions to the speckle that makes same beam formation in the multiframe speckle image that receiving module received is located different positions, can receive the multiframe image formation depth image of module receipt through the stack, make the density increase of speckle in the depth image, be favorable to the depth measurement.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.
Fig. 1 is a schematic structural diagram of a first transmitting module according to an exemplary embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a second transmission module according to an exemplary embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a third transmit module according to an exemplary embodiment of the disclosure;
fig. 4 is a schematic structural diagram of a fourth transmit module according to an exemplary embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a fifth transmitting module according to an exemplary embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a sixth kind of transmit module provided in an exemplary embodiment of the present disclosure;
FIG. 7 is a schematic diagram of a liquid crystal beam splitter according to an exemplary embodiment of the present disclosure;
fig. 8 is a schematic view of a driving unit provided in an exemplary embodiment of the present disclosure;
fig. 9 is a frame speckle image provided by an exemplary embodiment of the present disclosure;
FIG. 10 is a two-frame superimposed speckle image provided by an exemplary embodiment of the present disclosure;
FIG. 11 is a three-frame superimposed speckle image provided by an exemplary embodiment of the present disclosure;
FIG. 12 is a schematic diagram of a depth sensor provided in an exemplary embodiment of the present disclosure;
fig. 13 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed description will be omitted.
Although relative terms, such as "upper" and "lower," may be used in this specification to describe one element of an icon relative to another, these terms are used in this specification for convenience only, e.g., in accordance with the orientation of the examples described in the figures. It will be appreciated that if the device of the icon were turned upside down, the element described as "upper" would become the element "lower". When a structure is "on" another structure, it may mean that the structure is integrally formed with the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure via another structure.
The terms "a," "an," "the," "said" are used to indicate the presence of one or more elements/components/etc.; the terms "comprising" and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. other than the listed elements/components/etc.; the terms "first," "second," and the like are used merely as labels, and are not limiting on the number of their objects.
First, in the present exemplary embodiment, there is provided an emission module 100, as shown in fig. 1, the emission module 100 includes a light emitting component 110, a beam splitting component 120, an optical lens 130, and an adjusting component 140, wherein the light emitting component 110 is used for providing one or more light sources; the beam splitting assembly 120 is disposed on the light emitting side of the light emitting assembly 110, and the beam splitting assembly 120 is configured to convert at least one of the light sources provided by the light emitting assembly 110 into a plurality of light beams; the optical lens 130 is disposed on a side of the beam splitting assembly 120 away from the light emitting assembly 110; the adjusting assembly 140 is connected to the optical lens 130, and the adjusting assembly 140 is used for adjusting the relative position relationship between the optical lens 130 and the light emitting assembly 110 to adjust the propagation direction of the light beam.
The transmission module 100 that this disclosed embodiment provided, adjust the relative position of optical lens 130 and light emitting component 110 through adjusting part 140, make a plurality of light beams that beam splitting component 120 divides transmit to different positions through the optical lens 130 of different positions, thereby the speckle that makes same beam formation in the multiframe image that the receiving module received is located different positions, multiframe image formation depth image through the stack receiving module receipt, the density of speckle in the depth image has been increased, the spatial resolution who has improved the degree of depth formation of image, make the density of speckle in the depth image can with the pixel density matching in the receiving module, be favorable to the depth measurement.
Further, the emission module 100 provided by the embodiment of the disclosure may further include a housing 150, the housing 150 has a receiving portion 151, and the light emitting assembly 110, the beam splitting assembly 120, the optical lens 130 and the adjusting assembly 140 are disposed in the receiving portion 151. The light emitting assembly 110 and the beam splitting assembly 120 may be attached to the housing 150 or may be encapsulated in the housing by an encapsulation structure.
The transmitting module 100 provided in the embodiment of the present disclosure may be a Spot-ITOF (Spot induced Time of Flight, speckle Indirect Time Flight technology) transmitting module 100, and the following details are provided for each component of the transmitting module 100 provided in the embodiment of the present disclosure:
as shown in fig. 3, the optical lens 130 includes a transmission mirror 131, the transmission mirror 131 is disposed on a side of the beam splitting assembly 120 away from the light emitting assembly 110, and the plurality of light beams can pass through the transmission mirror 131. The included angle between the surface of the transmission mirror 131 and the light emitting surface of the light emitting assembly 110 is less than 90 degrees. The transmission mirror 131 may be a planar lens, and the transmission mirror 131 may be made of a transparent material, such as transparent plastic or glass. The transmission mirror 131 refracts a plurality of beams emitted from the beam splitting assembly 120, the refracted beams are emitted and reflected after contacting an obstacle, and the reflected beams are received by the receiving module to form a speckle image.
On this basis, the adjusting assembly may comprise a micro-electromechanical system (not shown), and the micro-electromechanical system may comprise a driving device and a transmission member (not shown), wherein the transmission member is respectively connected to the driving device and the transmission mirror 131, and the driving device can drive the transmission mirror 131 to rotate around at least two directions through the transmission member.
Wherein, the driving device can drive the transmission mirror 131 to rotate around a first direction and a second direction through the transmission member, and the first direction is perpendicular to the second direction. The driving device may be connected to the housing 150, and the transmission member is connected to the transmission mirror 131; or the driving device may be connected to the transmission mirror 131 and the transmission member connected to the housing 150.
As shown in fig. 2, the driving means may include a first galvanometer motor 141, and the transmission member may include a first rotating shaft 142, the first galvanometer motor 141 being connected to the transmission mirror 131; the first rotating shaft 142 is connected to the first galvanometer motor 141, and the first galvanometer motor 141 can drive the transmission mirror 131 to rotate along the first rotating shaft 142.
Wherein the first rotating shaft 142 may be installed at an inner wall of the housing 150. The case 150 may include a bottom plate 151 and a side plate 152, and the bottom plate 151 is connected to the side plate 152 to form a receiving portion 151. The light emitting assembly 110 may be disposed on the bottom plate 151, for example, the light emitting element may be connected to the bottom plate 151 by gluing or fastening. The beam splitting assembly 120 is disposed on a side of the light emitting assembly 110 away from the bottom plate 151, and the transmission mirror 131 is disposed on a side of the beam splitting assembly 120 away from the light emitting assembly 110.
The first galvanometer motor 141 may be coupled to an edge of the transmission mirror 131, and the first galvanometer motor 141 is rotatably coupled to the first rotating shaft 142, and the first rotating shaft 142 and the first galvanometer motor 141 may be rotatable with respect to the first rotating shaft 142 on a sidewall of the housing 150. When the first galvanometer motor 141 works, the transmission mirror 131 is driven to rotate. Or in practical applications, the first galvanometer motor 141 may be disposed on a side plate 152 of the casing 150, and the first rotating shaft connects the first galvanometer motor 141 and the transmission mirror 131. The first galvanometer motor 141 drives the first rotating shaft 142 to rotate, thereby driving the transmission mirror 131 to deflect.
Further, in order to realize the transmission mirror 131 capable of deflecting in two directions, the driving device may further include a second galvanometer motor 143, and the transmission member may further include a second rotating shaft 144. The second galvanometer motor 143 is connected with the transmission mirror 131; the second rotating shaft 144 connects the second galvanometer motor 143 and a side plate 152 of the housing 150, and the second galvanometer motor 143 can drive the transmission mirror 131 to rotate along the second rotating shaft 144. Or the second galvanometer motor 143 may be connected to a side plate 152 of the housing 150, the second rotating shaft 144 is connected to the second galvanometer motor 143 and the transmission mirror 131, and the second galvanometer motor 143 can drive the rotating shaft to rotate, so as to drive the transmission mirror 131 to rotate along the second rotating shaft 144.
The extending direction of the second rotating shaft 144 is different from the extending direction of the first rotating shaft 142. For example, the second rotating shaft 144 extends in a direction perpendicular to the first rotating shaft 142. In order to avoid that the first rotation axis 142 and the second rotation axis 144 pass through the transmission mirror 131 to affect the light transmission effect of the transmission mirror 131, the first rotation axis 142 may include two first short axes, and the second rotation axis 144 may include two second short axes. The two first short axes are respectively located at two sides of the transmission mirror 131, and the two first short axes are coaxial. The two second short axes are respectively located at both sides of the transmission mirror 131, and the two second short axes are coaxial.
As shown in fig. 3, sliding grooves 153 are provided on the inner wall of the side plate 152 of the housing 150, for example, four sliding grooves 153 may be provided on the side plate 152 of the housing 150. When the first and second galvanometer motors 141 and 143 are provided on the side plate 152 of the housing 150, the first and second galvanometer motors 141 and 143 may be provided on the slide groove 153. Illustratively, the first galvanometer motor 141 is disposed in a slide slot 153, and the second galvanometer motor 143 is disposed in a slide slot 153 adjacent to the first motor. One of the two first stub shafts is connected to the first galvanometer motor 141, and the other first stub shaft is disposed in a slide groove 153 opposed to the first galvanometer motor 141. One of the two second stub shafts is connected to the second galvanometer motor 143, and the other second stub shaft is disposed in a slide groove 153 opposed to the second galvanometer motor.
Alternatively, when the first and second galvanometer motors 141 and 143 are provided on the transmission mirror 131, the ends of the first and second rotating shafts 142 and 144 may be provided in the slide groove 153. Illustratively, two first stub shafts are respectively disposed within a set of opposing slide slots 153. The two second stub shafts are respectively disposed in a set of opposing slide slots 153.
A spring 146 may be disposed in each sliding slot 153 of the side plate 152 of the housing 150, one end of the spring 146 may be connected to the bottom of the sliding slot 153 in the sliding slot 153, and the other end of the spring 146 may be connected to a galvanometer motor or a connecting shaft located in the sliding slot 153. The first galvanometer motor 141 and the second galvanometer motor 143 which are positioned in the sliding groove 153 are in sliding connection with the sliding groove 153, and the first galvanometer motor 141 and the second galvanometer motor 143 are initially limited and deflected to reset through the spring 146. The first rotating shaft 142 and the second rotating shaft 144 in the sliding slot 153 are slidably connected to the corresponding sliding slot 153, and the first rotating shaft 142 and the second rotating shaft 144 are initially limited and deflected to be reset by the spring 146. In the initial condition, the transmission mirror 131 is parallel to the light emitting surface of the light emitting element 110.
It should be noted that the first galvanometer motor 141 may be another rotating motor, such as a micro servo motor, and the second galvanometer motor 143 may be another rotating motor, such as a micro servo motor, and the embodiments of the present disclosure are not limited thereto.
Or the transmissive mirror 131 may include a micro-transmissive mirror array for refracting light provided by the light emitting assembly 110; on this basis, the adjusting component 140 includes a digital micromirror chip, and the micro-transmission mirror array is disposed on the digital micromirror chip, and the digital micromirror chip can drive the micro-transmission mirrors in the micro-transmission mirror array to rotate. At this time, the micro transmission mirror array and the Digital Micromirror chip form a Digital Micromirror Device (DMD).
Through the deflection angle who adjusts transmitting mirror 131, can change the direction of the light beam that passes transmitting mirror 131, on the one hand through the small-angle deflection of transmitting mirror 131 can make a plurality of light beams that beam splitting component 120 divides transmit to the different point positions of barrier through the optical lens 130 of different positions, thereby the speckle that makes same light beam formation in the multiframe image that the receiving module received is located different positions, the multiframe image that receives through the stack receiving module forms the depth image, make the density increase of speckle in the depth image, be favorable to the depth measurement. On the other hand, the light beams emitted by the beam splitting assembly 120 can be projected to different areas of the obstacle through the large-angle deflection of the transmission mirror 131, that is, speckle images of different areas of the obstacle can be acquired, and a speckle image with a larger field angle can be obtained through the splicing of a plurality of frames of speckle images of different areas, so that the field angle of the depth sensor can be increased.
It is understood that, as shown in fig. 5, the optical lens 130 may also include a mirror 132, the mirror 132 is disposed on a side of the beam splitting assembly 120 away from the light emitting assembly 110, and the mirror 132 is capable of reflecting a plurality of light beams. The reflector 132 has a reflective surface, and an included angle between the reflective surface of the reflector 132 and the light-emitting surface of the light-emitting element is greater than 0 degree. Illustratively, the initial angle between the reflective surface of the reflector 132 and the optical axis of the light emitting element is 45 degrees.
On this basis, the adjusting component 140 includes a micro-electromechanical system (not shown in the figure) connected to the reflecting mirror 132, and the micro-electromechanical system is used for adjusting the angle between the reflecting mirror 132 and the light emitting component 110.
The mems may comprise a driving device 145 and a transmission member (not shown) respectively connected to the driving device 145 and the reflecting mirror 132, and the driving device 145 may adjust an included angle between the reflecting mirror 132 and the light emitting assembly 110 through the transmission member.
Wherein the driving device 145 can be connected to the housing 150, and the transmission member is connected to the reflector 132; or the drive device 145 may be coupled to the mirror 132 and the transmission coupled to the housing 150. The driving device 145 may be a rotary motor, a linear motor, or the like, and the transmission member may be a transmission shaft, a slide rail, or the like.
The reflector 132 may include a substrate, which may be a glass plate, a plastic plate, a metal plate, or the like, and a reflective layer, the substrate having at least one plane. The reflecting layer is formed on the plane of the substrate, the reflecting layer can be formed on the substrate by electroplating, printing or coating, and the material of the reflecting layer can comprise one or more of aluminum, silver, silicon borate glass and fused quartz.
As shown in fig. 6, the housing 150 may include a first mounting portion 154 and a second mounting portion 155, the first mounting portion 154 and the second mounting portion 155 being coupled, the second mounting portion 155 having an opening 1561 thereon. The first mounting portion 154 is used for mounting the light emitting module 110 and the beam splitting module 120, the second mounting portion 155 is used for mounting the reflector 132, and the light beam reflected by the reflector 132 is emitted out through the opening 1561 of the second mounting portion 155.
The housing 150 may have a rectangular parallelepiped cavity therein, with an opening 1561 provided on a first side of the housing 150. The first side of the housing 150 includes an opening 1561 area and a shadow area, and the opening 1561 on the first side is located in the opening 1561 area. Illustratively, the opening 1561 area and the shaded area each occupy half of the area of the first side of the housing 150. A through hole is provided in the area of the opening 1561 of the first surface of the housing 150, the through hole forming the opening 1561, and the mirror 132 may be provided at a position opposite to the opening 1561.
The light emitting element 110 is disposed in the cavity of the housing 150, and a projection of the light emitting element 110 on the first surface is located in the shielding region, the light emitting surface of the light emitting element 110 is not parallel to the first surface of the housing 150 (an included angle therebetween is greater than 0 degree), for example, the light emitting surface of the light emitting element 110 is perpendicular to the first surface of the housing 150. The beam splitting assembly 120 is disposed in the cavity of the housing 150, the beam splitting assembly 120 is disposed on the light emitting side of the light emitting assembly 110, a projection of the beam splitting assembly 120 on the first surface is located in the shielding region, and the first surfaces of the beam splitting assembly 120 and the housing 150 are not parallel (an included angle between the first surface and the second surface is greater than 0 degree), for example, the light emitting surface of the beam splitting assembly 120 is perpendicular to the first surface of the housing 150.
The mirror 132 is provided in the cavity of the housing 150, and the reflecting surface of the mirror 132 corresponds to the opening 1561 in the first surface 156 of the housing 150, so that light reflected by the reflecting surface of the mirror 132 can exit from the opening 1561 in the first surface 156. One end of the reflector 132 may be slidably coupled to the third surface of the housing 150, and the other end of the reflector 132 may be slidably coupled to the second surface of the housing 150. The third surface of the housing 150 is a surface opposite to the first surface 156 of the housing 150, the second surface of the housing 150 is a surface connecting the first surface 156 of the housing 150 and the third surface of the housing 150, and the second surface of the housing 150 is located on a side of the opening 1561 away from the shadow region.
Illustratively, sliding grooves are formed on the second surface of the housing 150 and the third surface of the housing 150, and a sliding portion is formed on the reflector 132, and the sliding portion and the sliding grooves are matched, so that the reflector 132 can slide on the second surface and the third surface of the housing 150, and the inclination angle of the reflector 132 can be adjusted. Adjusting the tilt angle of the mirror 132 can adjust the position at which the mirror 132 reflects the light beam onto the obstacle.
The driving device 145 may be disposed on the housing 150 or on the mirror 132, and the driving device 145 is used for driving the mirror 132 to move relative to the housing 150 to adjust the angle of the mirror 132. When the driving device 145 is provided on the housing 150, the driving device 145 may be provided on the second surface or the third surface of the housing 150. When the driving device 145 is disposed on the mirror 132, the driving device 145 drives the mirror 132 to move together, so as to adjust the angle of the mirror 132.
Or the mirror 132 may comprise a micro-mirror array for reflecting a plurality of light beams; the adjustment assembly 140 includes a digital micromirror chip, and the array of micro-mirrors 132 is disposed on the digital micromirror chip, and the digital micromirror chip is capable of driving the micro-mirrors of the micro-mirror array to rotate. At this time, the Micromirror array and the Digital Micromirror chip form a Digital Micromirror Device (DMD).
The digital micro-mirror chip is provided with a driving circuit, the micro-mirror is driven to deflect by the driving circuit, and the light path of the light beam reflected by the micro-mirror is also changed after the micro-mirror deflects. The micro-mirrors in the digital micro-mirror device are aligned with the plurality of light beams split by beam splitting assembly 120. Therefore, one micro mirror controls one beam of light, and one speckle in the speckle image corresponding to one micro mirror can be realized from the imaging angle. Each light beam (speckle) is controlled independently by a micro-mirror, which is beneficial to speckle imaging.
Through the deflection angle who adjusts speculum 132, can change the direction of the light beam that speculum 132 reflects, the deflection through speculum 132 small angle on the one hand can make a plurality of light beams that beam splitting component 120 divides transmit to the different position of barrier through the optical lens 130 of different positions, thereby the speckle that makes same light beam formation in the multiframe image that the receiving module received is located different positions, the multiframe image that receives through the stack receiving module forms the depth image, make the density increase of speckle in the depth image, be favorable to the depth measurement. On the other hand, the light beams emitted by the beam splitting assembly 120 can be projected to different areas of the obstacle through the large-angle deflection of the reflector 132, that is, speckle images of different areas of the obstacle can be acquired, and a speckle image with a larger field angle can be obtained through the splicing of a plurality of frames of speckle images of different areas, so that the field angle of the depth sensor can be increased.
As shown in fig. 4, the light emitting assembly 110 may include a laser array 111 and a collimating lens 112: the vertical cavity surface emitting laser array 111 is for emitting a plurality of laser beams. Collimating lens 112 is disposed between laser array 111 and beam splitting assembly 120.
Illustratively, the Laser array 111 may be a Vertical Cavity Surface Emitting Laser (VCSEL) array, and the VCSEL array may include a substrate 123 and a light Emitting layer, and the VCSEL array may generate a Laser beam perpendicular to the substrate 123. The vertical cavity surface emitting laser array includes a plurality of vertical cavity surface emitting lasers therein so that the vertical cavity surface emitting laser array can generate a plurality of laser beams perpendicular to the substrate 123. The vertical cavity surface emitting laser has the advantages of small far field divergence angle, narrow and round emitted light beam, easy coupling with optical fibers, low threshold current, high modulation frequency and easy realization of large-scale array and photoelectric integration. Of course, in practical applications, the light source of the light emitting assembly 110 may also be other light sources, and the embodiment of the disclosure is not limited thereto.
The collimating lens 112 is disposed on the light-emitting side of the vcsel array, the collimating lens 112 is an optical device, and the collimating lens 112 is configured to align the light beam emitted by the vcsel array with the light-emitting direction to form a collimated light beam or a parallel light beam. Thereby preventing or at least minimizing the spread of the light beam with distance. The collimating lens 112 may include one or more lenses, and the collimating lens 112 may include various lens combinations such as a concave lens, a convex lens, a plane mirror, and the like
The beam splitting assembly 120 may include a Diffractive Optical element 121 (DOE) and a protective layer 122, the Diffractive Optical element 121 being disposed on a side of the collimating lens 112 away from the vcsel array 111, the Diffractive Optical element 121 being for splitting the laser beam. The diffractive optical element 121 further splits the laser beam emitted from the vertical cavity surface emitting laser by the microstructure of the surface. The speckle image is represented by a laser speckle image emitted by the vertical cavity surface emitting laser, which is copied by the diffractive optical element 121, and then the speckle image with uniform energy and more points is generated, and then the speckle image is projected into a three-dimensional space through the optical lens 130.
The protective layer 122 is provided on the diffractive optical element 121, the protective layer 122 is a transparent protective layer 122, and the protective layer 122 protects the diffractive optical element 121. The protective layer 122 may cover a side of the diffractive optical element 121 close to the light emitting element 110, the protective layer 122 may cover a side of the diffractive optical element 121 far from the light emitting element 110, or the protective layer 122 may cover both sides of the diffractive optical element 121. The protection layer 122 may be an ITO (indium tin oxide) layer, or the protection layer 122 may also be another transparent material layer, which is not limited in the embodiments of the disclosure.
The diffractive optical element 121 generally adopts a micro-nano etching process to form diffraction units distributed in two dimensions on a diffractive light sheet, each diffraction unit may have a specific shape, a specific refractive index, and the like, and the diffraction units can perform fine control (such as beam splitting or shaping) on the phase distribution of the laser wavefront. The laser is diffracted after passing through each diffraction unit, and generates interference at a certain distance to form a specific light intensity distribution (namely, a speckle image).
It is understood that the beam splitting assembly 120 may also include other devices having beam splitting capabilities. For example, beam splitting assembly 120 may include a liquid crystal beam splitter. As shown in fig. 7, the liquid crystal beam splitter may include a substrate 123, a liquid crystal layer 126, a first electrode layer 125, a second electrode layer 127, and a driving circuit layer 124. The driving circuit layer 124 is disposed on one side of the substrate 123, the first electrode layer 125 is disposed on one side of the driving circuit layer 124 away from the substrate 123, the liquid crystal layer 126 is disposed on one side of the first electrode layer 125 away from the driving circuit layer 124, and the second electrode layer 127 is disposed on one side of the liquid crystal layer 126 away from the first electrode layer 125. In practical applications, the liquid crystal beam splitter may further include a polarizer or the like.
The liquid crystal layer 126 includes liquid crystal molecules that can be deflected in an electric field to transmit or not transmit light. The first electrode layer 125 includes a plurality of pixel electrodes distributed in an array, the second electrode layer 127 includes a common electrode, and the liquid crystal molecules are deflected in an electric field formed by the first electrode layer 125 and the second electrode layer 127.
The driving circuit layer 124 includes a plurality of driving circuit units, each pixel electrode is correspondingly connected with a driving circuit unit, the driving circuit units provide the first power signal VDD to the pixel electrodes, and the common electrode receives the second power signal VSS. When the driving circuit unit is conducted and a first power supply signal VDD is provided for the pixel electrode, the first power supply signal VDD and a second power supply signal VSS form an electric field, and liquid crystal molecules are deflected to a light-transmitting state; when the driving circuit unit is turned off, the pixel electrode is not energized, and the liquid crystal molecules are deflected to the opaque state.
The driving circuit unit may include a driving switch Td having a first terminal connected to the first power source terminal for receiving the first power signal VDD, a second terminal connected to the pixel electrode, and a control terminal connected to the data signal Vdata terminal. The driving switch Td is turned on in response to the data signal Vdata to write the first power signal VDD into the corresponding pixel electrode.
The first power supply signal VDD may be written to the pixel electrode in a progressive manner, and as shown in fig. 8, the driving circuit unit may further include an energy storage capacitor C and a scan switch Ts. A first terminal of the scan switch Ts is connected to the data signal Vdata, a second terminal of the scan switch Ts is connected to the control terminal of the driving switch Td, and the control terminal of the scan switch Ts is connected to the scan control signal Sn. The first end of the energy storage capacitor C is connected to the control end of the driving switch Td, and the second end of the energy storage capacitor C is connected to the first power signal VDD. The second electrode layer is connected with a second power signal VSS. The scan switch Ts is turned on in response to the scan control signal Sn to write the data signal Vdata into the energy storage capacitor C, the drive switch Td is turned on under the control of the data signal Vdata in the energy storage capacitor C, and the first power signal VDD is transmitted to the pixel electrode.
It should be noted that the scan switch Ts and the driving switch Td may be transistors (such as thin film transistors or field effect transistors). The first terminal of each switch may be a source of a transistor, the second terminal may be a drain of the transistor, and the control terminal may be a gate of the transistor. Of course, in practical applications, the first terminal of each switch may be a drain of a transistor, the second terminal may be a source of the transistor, and the control terminal may be a gate of the transistor, which is not limited in the embodiments of the present disclosure.
In the liquid crystal beam splitter, different light transmission regions may be formed by combinations of different pixel units, and thus, light emitted from the light emitting element 110 is split and shaped. One pixel unit refers to a region corresponding to one pixel electrode. In the liquid crystal beam splitter, the substrate 123, the first electrode layer 125, the second electrode layer 127, the driver circuit layer 124, and the like are transparent layers.
It should be noted that the light emitting assembly 110 provided by the embodiment of the present disclosure may be a single light source or multiple light sources. The beam splitting assembly 120 may split the number of light sources to increase the number of light beams emitted from the beam splitting assembly 120. The beam splitting assembly 120 may split each light source, or split a part of the light sources in the plurality of light sources, which is not specifically limited in the embodiment of the present disclosure.
By way of example, the emission module 100 provided by the embodiment of the present disclosure emits an optical beam and generates a depth image, when a high spatial resolution depth image needs to be generated, a plurality of frames of speckle images may be generated, and the depth images are obtained by superposition:
a first frame stage: the optical lens 130 of the transmitting module 100 is adjusted to the initial posture (alpha) 1 ，β 1 ) The projected speckle image at this time is shown as the speckle points in fig. 9.
In the second frame stage, the optical lens 130 of the emission module 100 is adjusted to another posture (α) 2 ，β 2 ) At this time, the first frame speckle image and the second frame speckle image are superimposed to obtain the depth image as shown in fig. 10.
In the third frame stage, the rotating shaft of the galvanometer of the transmitting module 100 is adjusted to the attitude (alpha) 3 ，β 3 ) At this time, the first frame speckle image, the second frame speckle image, and the third frame speckle image are superimposed to obtain the depth image as in fig. 11. And repeating the steps until a depth image meeting the requirement of the spatial resolution is generated. It should be noted that the offset control of the optical lens 130 needs to be very precise to ensure that the projected speckle images between frames are arranged as cross as possible, and do not overlap or exceed the distance between adjacent speckle points.Where α may be a deflection angle of the optical lens 130 along the first rotation axis 142, and β may be a deflection angle of the optical lens 130 along the second rotation axis 144.
The transmitting module 100 provided by the embodiment of the present disclosure adjusts the relative position of the optical lens 130 and the light emitting module 110 through the adjusting module 140, so that a plurality of light beams split by the beam splitting module 120 are transmitted to different points of the obstacle through the optical lens 130 at different positions, thereby enabling speckles formed by the same light beam in the multi-frame images received by the receiving module to be located at different positions, forming a depth image through the multi-frame images received by the overlapping receiving module, increasing the density of the speckles in the depth image, and facilitating depth measurement. Further, by adjusting the relative position relationship between the optical lens 130 and the light emitting assembly 110, the light beam emitted from the beam splitting assembly 120 can be projected to different areas of the obstacle, that is, speckle images of different areas of the obstacle can be acquired, and a speckle image with a larger field angle can be obtained by splicing a plurality of frames of speckle images of different areas, so that the field angle of the depth sensor can be increased.
The exemplary embodiment of the present disclosure also provides a depth sensor 10, as shown in fig. 12, the depth sensor 10 including: the transmitting module 100 and the receiving module 200 are described above. The receiving module 200 is disposed at one side of the transmitting module 100, and the receiving module 200 is used for receiving the reflected light.
A plurality of photodiodes may be distributed in an array on the receiving module 200, and receive the light beams reflected by the obstacle. And converting the optical signal reflected by the obstacle into an electrical signal, and finally forming a speckle image.
The depth sensor 10 provided by the embodiment of the present disclosure can collect multiple frames of speckle images when operating, and finally superimpose the multiple frames of speckle images to form a depth image, so as to increase the speckle density of the depth image. The adjustment assembly 140 can adjust the optical lens 130 at different deflection angles as each frame of speckle image is acquired. The deflection angles of the optical lens 130 corresponding to different frames of speckle images are different, and in the speckle images of different frames, the speckles corresponding to the same light beam are located in a preset range in the speckle images. The preset range refers to an area formed by speckles adjacent to the speckle corresponding to the light beam in the initial speckle image. The initial speckle image refers to a speckle image formed when the optical lens 130 is at an initial position. The density of speckles on the depth image can be increased by superimposing the speckle images.
The depth sensor 10 provided by the embodiment of the disclosure can collect multiple frames of speckle images when working, and finally, the multiple frames of speckle images are spliced to form a depth image, so that the field of view of the depth sensor 10 is increased. The optical lens 130 is adjusted at different deflection angles by the adjustment assembly 140 as each frame of speckle image is acquired. The deflection angle of the optical lens 130 is different for different frames of speckle images, and the light beam is irradiated to different areas of the obstacle in different frames, that is, the speckle areas are located in different areas in the speckle images.
The depth sensor 10 provided by the embodiment of the present disclosure adjusts the relative position of the optical lens 130 and the light emitting component 110 through the adjusting component 140, so that a plurality of light beams split by the beam splitting component 120 are transmitted to different points of the obstacle through the optical lens 130 at different positions, thereby making speckles formed by the same light beam in the multi-frame images received by the receiving module 200 be located at different positions, forming depth images through the multi-frame images received by the superposition receiving module 200, increasing the density of the speckles in the depth images, and facilitating depth measurement. Further, by adjusting the relative position relationship between the optical lens 130 and the light emitting assembly 110, the light beam emitted from the beam splitting assembly 120 can be projected to different areas of the obstacle, that is, speckle images of different areas of the obstacle can be obtained, and a speckle image with a larger field angle can be obtained by stitching a plurality of frames of speckle images of different areas, so that the field angle of the depth sensor 10 can be increased.
The exemplary embodiments of the present disclosure also provide an electronic device including the depth sensor 10 described above.
Further, as shown in fig. 13, the electronic device provided in the embodiment of the present disclosure may further include a control module 20, where the control module 20 is respectively connected to the transmitting module 100 and the receiving module 200, the control module 20 controls the adjusting component 140 to adjust the optical lens 130 to a plurality of positions, the receiving module 200 receives the speckle images corresponding to each position of the optical lens 130 and transmits the plurality of speckle images to the control module 20, and the control module 20 superimposes the plurality of speckle images.
The electronic equipment provided by the embodiment of the disclosure can be a mobile phone, a tablet computer, augmented reality glasses, vehicle-mounted equipment, a camera and the like.
The following describes the electronic device provided by the embodiment of the present disclosure in detail by taking the electronic device as a mobile phone as an example:
the electronic device provided by the embodiment of the present disclosure may further include a display screen 60, a bezel 70, a main board 30, a battery 40, and a rear cover 50. The display screen 60 is mounted on the frame 70 to form a display surface of the electronic device, and the display screen 60 serves as a front shell of the electronic device. The rear cover 50 is adhered to the frame by double-sided adhesive, and the display screen 60, the frame 70 and the rear cover 50 form a receiving space for receiving other electronic components or functional modules of the electronic device. Meanwhile, the display screen 60 forms a display surface of the electronic device for displaying information such as images, texts, and the like. The Display screen 60 may be a Liquid Crystal Display (LCD) or an organic light-Emitting Diode (OLED) Display screen.
A glass cover may be provided over the display screen 60. Wherein, the glass cover plate can cover the display screen 60 to protect the display screen 60 and prevent the display screen 60 from being scratched or damaged by water.
The display screen 60 may include a display area 61 and a non-display area 62. Wherein the display area 61 performs the display function of the display screen 60 for displaying information such as images, text, etc. The non-display area 62 displays no information. The non-display area 62 may be used to set functional modules such as a camera, a receiver, a proximity sensor, and the like. In some embodiments, the non-display area 62 may include at least one area located at upper and lower portions of the display area 61.
The display screen 60 may be a full-face screen. At this time, the display screen 60 may display information in full screen, so that the electronic device has a larger screen occupation ratio. The display screen 60 includes only the display area 61 and no non-display area. At this moment, functional modules such as camera, proximity sensor among the electronic equipment can hide in display screen 60 below, and electronic equipment's fingerprint identification module can set up the back at electronic equipment.
The bezel 70 may be a hollow frame structure. The material of the frame 70 may include metal or plastic. The main board 30 is mounted inside the receiving space. For example, the main board 30 may be mounted on the frame 70 and received in the receiving space together with the frame 70. The main board 30 is provided with a grounding point to realize grounding of the main board 30. One or more of the functional modules such as a motor, a microphone, a speaker, a receiver, an earphone interface, a universal serial bus interface (USB interface), a camera, a proximity sensor, an ambient light sensor, a gyroscope, and a processor may be integrated on the main board 30. Meanwhile, the display screen 60 may be electrically connected to the main board 30.
The main board 30 is provided with a display control circuit. The display control circuit outputs an electric signal to the display screen 60 to control the display screen 60 to display information.
The battery 40 is mounted inside the receiving space. For example, the battery 40 may be mounted on the frame 70 and received in the receiving space together with the frame 70. The battery 40 may be electrically connected to the motherboard 30 to enable the battery 40 to power the electronic device. The main board 30 may be provided with a power management circuit. The power management circuit is used to distribute the voltage provided by the battery 40 to the various electronic components in the electronic device.
The rear cover 50 serves to form an outer contour of the electronic apparatus. The rear cover 50 may be integrally formed. In the forming process of the rear cover 50, a rear camera hole, a fingerprint identification module mounting hole and the like can be formed in the rear cover 50. The depth sensor 10 provided by the embodiment of the present disclosure may be disposed on the middle frame 70 or the main board 30, and the depth sensor 10 is exposed to the rear cover 50 of the electronic device. The control module 20 may be provided to the main board 30.
It should be noted that, only a mobile phone is taken as an example to describe the electronic device, and it does not represent that the electronic device provided in the embodiments of the present disclosure is only a mobile phone, and the electronic device provided in the embodiments of the present disclosure may be any electronic device with spatial distance measurement, such as a navigator, augmented reality glasses, virtual reality glasses, and an auto-driven vehicle.
The electronic equipment provided by the embodiment of the disclosure adjusts the relative position of the optical lens 130 and the light emitting component 110 through the adjusting component 140, so that a plurality of light beams split by the beam splitting component 120 are transmitted to different point positions of an obstacle through the optical lens 130 at different positions, speckles formed by the same light beam in a multi-frame image received by the receiving module 200 are located at different positions, a depth image is formed by the multi-frame image received by the overlapping receiving module 200, the density of the speckles in the depth image is increased, and the depth measurement is facilitated. Further, by adjusting the relative position relationship between the optical lens 130 and the light emitting assembly 110, the light beam emitted from the beam splitting assembly 120 can be projected to different areas of the obstacle, that is, speckle images of different areas of the obstacle can be obtained, and a speckle image with a larger field angle can be obtained by stitching a plurality of frames of speckle images of different areas, so that the field angle of the depth sensor 10 can be increased.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims (9)

1. The utility model provides a transmission module which characterized in that, transmission module includes:
a light emitting assembly for providing one or more beams of light;
the beam splitting assembly is arranged on the light emitting side of the light emitting assembly and used for converting at least one light source in the light sources provided by the light emitting assembly into a plurality of light beams;
the optical lens is arranged on one side, far away from the light-emitting component, of the beam splitting component and comprises a micro-transmission lens array, and the micro-transmission lens array is used for refracting light rays provided by the light-emitting component;
the adjusting assembly is connected with the optical lens and used for adjusting the relative position relation between the optical lens and the light emitting assembly after the last frame of speckle image is collected, and further adjusting the propagation direction of the light beam so as to acquire a plurality of speckle images.
2. The transmitter module of claim 1, wherein the adjustment assembly comprises:
the micro-transmission mirror array is arranged on the digital micro-mirror chip, and the digital micro-mirror chip can drive the micro-transmission mirror in the micro-transmission mirror array to rotate.
3. The emissive module of claim 1, wherein the light-emitting assembly comprises:
a laser array for emitting a plurality of laser beams.
4. The emissive module of claim 3, wherein the light-emitting assembly further comprises:
and the collimating lens is arranged between the laser array and the beam splitting assembly.
5. The launch module of claim 4, wherein said beam splitting assembly comprises:
the diffraction optical element is arranged on one side, away from the vertical cavity surface emitting laser array, of the collimating lens and is used for splitting the laser beam.
6. The transmitter module of any of claims 1-5, wherein the transmitter module further comprises:
the shell is provided with a containing part, and the light-emitting assembly, the beam splitting assembly, the optical lens and the adjusting assembly are arranged in the containing part.
7. A depth sensor, characterized in that the depth sensor comprises:
the transmitter module of any of claims 1-6;
the receiving module is arranged on one side of the transmitting module and used for receiving reflected light.
8. An electronic device, characterized in that the electronic device comprises a depth sensor according to claim 7.
9. The electronic device of claim 8, wherein the electronic device further comprises:
the control module is respectively connected with the transmitting module and the receiving module, the control module controls the adjusting assembly to adjust the optical lens to a plurality of positions, the receiving module receives the speckle images corresponding to the optical lens at each position and transmits the speckle images to the control module, and the control module superposes the speckle images to obtain the depth image.
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