CN111913305B - Transmitting module, depth sensor and electronic equipment - Google Patents
Transmitting module, depth sensor and electronic equipment Download PDFInfo
- Publication number
- CN111913305B CN111913305B CN202010740144.6A CN202010740144A CN111913305B CN 111913305 B CN111913305 B CN 111913305B CN 202010740144 A CN202010740144 A CN 202010740144A CN 111913305 B CN111913305 B CN 111913305B
- Authority
- CN
- China
- Prior art keywords
- light
- module
- optical lens
- transmission
- light emitting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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, an optical lens and an adjusting component, wherein the repeated light-emitting component is used for providing a light source; the optical lens is arranged on the light emitting side of the light emitting component; the adjusting component is connected with the optical lens and used for adjusting the relative position relation of the optical lens and the light-emitting component so as to adjust the propagation direction of the light rays provided by the light-emitting component. The field angle of the depth sensor can be increased.
Description
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, a depth image can be obtained through a time flight technology, and three-dimensional distance measurement is carried out according to the depth image. However, in practical applications, the field angle of the depth sensor emitting module is limited, so that the depth sensor cannot realize long-distance and large-field-angle depth imaging.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The purpose 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 depth sensor cannot realize large-field-angle depth imaging due to the limited field angle of 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 a light source;
the optical lens is arranged on the light-emitting side of 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 so as to adjust the propagation direction of the light rays provided by the light-emitting assembly.
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 above-described depth sensor.
The transmission module that this disclosed embodiment provided, relative position through adjusting part regulation optical lens and light emitting component, the optical lens that makes light emitting component provide through different positions is transmitted to the different regions of barrier, thereby the different regions that lie in the barrier in the multiframe projecting image that makes the receiving module receive, multiframe projecting image through concatenation receiving module receipt forms depth image, make depth sensor's angle of vision grow, can realize the long-range three-dimensional range finding of wide-angle, and then realize the long-range degree of depth formation of wide-angle.
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 transmitting 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 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 structural diagram of a seventh transmit module according to an exemplary embodiment of the disclosure;
fig. 8 is a schematic structural diagram of an eighth transmit module according to an exemplary embodiment of the present disclosure;
FIG. 9 is a schematic diagram of a projection area provided by an exemplary embodiment of the present disclosure;
FIG. 10 is a schematic diagram of a depth sensor provided in an exemplary embodiment of the present disclosure;
fig. 11 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 herein to describe one element of an icon relative to another, such terms are used herein for convenience only, e.g., with reference to the orientation of the example illustrated in the drawings. 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, an emission module 100 is provided, as shown in fig. 1, the emission module 100 includes a light emitting component 110, an optical lens 130, and an adjusting component 140, where the light emitting component 110 is used for providing a light source; the optical lens 130 is disposed on the light emitting side of the light emitting element 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 so as to adjust the propagation direction of the light provided by the light emitting assembly 110.
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 the light provided by the light emitting module 110 is transmitted to different areas of the obstacle through the optical lens 130 at different positions, thereby different areas of the obstacle are located in the multi-frame projection images received by the receiving module, the multi-frame projection images received by the splicing receiving module form a depth image, the field angle of the depth sensor is increased, the large-angle remote three-dimensional distance measurement can be realized, and further the large-angle remote depth imaging is realized. Meanwhile, a depth image can be formed by only collecting one frame of projection image, so that the depth imaging with a small visual angle is realized.
Further, the emission module 100 provided by the embodiment of the disclosure may further include a housing 150 and a diffuser element 120, the diffuser element 120 is disposed on the light emitting side of the light emitting element 110, and the diffuser element 120 is used for performing homogenization treatment on the light source. The housing 150 has a receiving portion 151, and the light emitting assembly 110, the diffusing 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 diffusion assembly 120 may be connected to the housing 150 or may be packaged in the housing through a packaging structure. The diffusion layer 120 can increase the field angle of the emission module.
The transmitting module 100 provided in the embodiment of the present disclosure may be a TOF (Time of Flight, time of Flight technology) transmitting module 100, and the following describes each component of the transmitting module 100 provided in the embodiment of the present disclosure in detail:
the optical lens 130 includes a transmission mirror 131, the transmission mirror 131 is disposed on the light-emitting side of the light-emitting assembly 110, the light provided by the light-emitting assembly 110 can pass through the transmission mirror 131, and the transmission mirror 131 refracts the light. 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 light-transmitting material, such as transparent plastic or glass. The transmission mirror 131 refracts light provided from the light emitting element 110, the refracted light is emitted, and reflected after contacting an obstacle, and the reflected light is received by the receiving module to form a projection image.
On this basis, the adjustment assembly may comprise a micro-electromechanical system (not shown), which may comprise a driving device and a transmission member, the transmission member being connected to the driving device and the transmission mirror 131, respectively, and the driving device being capable of driving the transmission mirror 131 to rotate around at least two directions through the transmission member.
Wherein the driving means can drive the transmission mirror 131 to rotate around a first direction and a second direction, which are perpendicular, by the transmission member. 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 device 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 diffusion member 120 is disposed on a side of the light emitting member 110 away from the bottom plate 151, and the transmission mirror 131 is disposed on a side of the diffusion member 120 away from the light emitting member 110. Or the transmission mirror 131 is disposed between the diffusion member 120 and the light emitting member 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 is operated, 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, so as to drive 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 short shafts are respectively disposed in a set of opposite sliding 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 groove 153 are slidably connected to the corresponding sliding groove 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 transmissive 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 transmission mirror 131 may include a micro-transmission mirror array for refracting the 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).
The direction of light rays passing through the transmission mirror 131 can be changed by adjusting the deflection angle of the transmission mirror 131, light provided by the light emitting assembly can be projected to different areas of an obstacle through deflection of the transmission mirror 131, namely, projected images of different areas of the obstacle can be acquired, a depth image with a larger field angle can be obtained through splicing of a plurality of frames of the projected images of different areas, and therefore the field angle of the depth sensor can be increased.
It is understood that, as shown in fig. 6, the optical lens 130 may also include a reflector 132, the reflector 132 is disposed on a side of the diffusion component 120 away from the light emitting component 110, and the reflector 132 can reflect the light irradiated onto the reflector 132 through the diffusion component 120. 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. Of course, in practical applications, the diffusion component 120 may also be disposed on the reflection light path of the reflector 132, and this is not particularly limited in the embodiment of the disclosure.
On this basis, the adjusting component 140 includes a micro-electromechanical system (not shown), which is connected to the reflecting mirror 132, and is used for adjusting the angle between the reflecting mirror 132 and the light emitting component 110.
The mems may include 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. 8, 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 element 110 and the diffusion element 120, the second mounting portion 155 is used for mounting the reflector 132, and the light reflected by the reflector 132 is emitted from 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, the opening 1561 on the first side being located in the opening 1561 area. Illustratively, the opening 1561 area and the shadow area each occupy half of the area of the first side of the housing 150. A through hole is provided in the first side of the housing 150 in the area of the opening 1561, 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 diffusion component 120 is disposed in the cavity of the housing 150, and the diffusion component 120 is disposed on the light-emitting side of the light-emitting component 110, a projection of the diffusion component 120 on the first surface is located in the shielding region, the diffusion component 120 is not parallel to the first surface of the housing 150 (i.e., an included angle between the diffusion component 120 and the first surface is greater than 0 degree), for example, the light-emitting surface of the diffusion component 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 shielding area.
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 of the mirror 132 reflecting light to 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 micro-electromechanical system may be provided on the second face or the third face 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 light; the adjustment assembly 140 includes a digital micromirror chip, and the micro-mirror 132 array is disposed on the digital micromirror chip, and the digital micromirror chip is capable of driving the micro-mirrors in 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 internally provided with a driving circuit, the micro-mirror is driven to deflect by the driving circuit, and the light path of light reflected by the micro-mirror is also changed after the micro-mirror deflects.
The direction of the light reflected by the reflector 132 can be changed by adjusting the deflection angle of the reflector 132, the light provided by the light-emitting element can be projected to different areas of the obstacle through the deflection of the reflector 132, that is, the projected images of the different areas of the obstacle can be acquired, and the depth image with a larger field angle can be obtained by splicing the projected images of the different areas of the plurality of frames, so that the field angle of the depth sensor can be increased.
As shown in fig. 5, the light emitting assembly 110 may include a laser array 111, the laser array 111 for emitting a plurality of laser beams.
Illustratively, the Laser array 111 may be a Vertical Cavity Surface Emitting Laser (VCSEL) array. The vertical cavity surface emitting laser may include a substrate 123 and a light emitting layer, and the vertical cavity surface emitting laser 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 be other light sources, and the embodiment of the disclosure is not limited thereto.
The further light emitting assembly 110 may further comprise a collimating lens 112, the collimating lens 112 being arranged between the laser array 111 and the diffusing assembly 120. The collimating lens 112 is disposed on the light-emitting side of the laser array 111, the collimating lens 112 is an optical device, and the collimating lens 112 is configured to align the light beam emitted by the laser array 111 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 diffusion member 120 may include a diffusion sheet (Diffuser) which may be disposed between the light emitting member 110 and the optical lens 130 as shown in fig. 5 and 6, and serves to homogenize the light source. Alternatively, as shown in fig. 4 and 7, a diffusion sheet may be disposed on the light exit side of the optical lens 130, and the diffusion member is used to homogenize the light source.
When the optical lens 130 is a transmission mirror 131, the diffusion sheet may be disposed on the light exit side or the light entrance side of the transmission mirror. When the optical lens is the reflector 132, a diffusion sheet may be disposed at the light-emitting side of the reflector 132, such as the opening 1561 on the housing 150, or a diffusion sheet may be disposed between the reflector 132 and the light emitting assembly 110.
The vertical cavity surface laser array emits a light source with a preset wavelength, the light source is transmitted to the diffusion sheet through the optical lens 130, the diffusion sheet shapes and homogenizes light spots of the light source through the microstructures on the surface, and finally the light spots are projected on a space plane at a certain emission angle. Or the vertical cavity laser array emits a light source with a preset wavelength, and the light source is transmitted to the optical lens 130 through the diffusion sheet, and the light spots of the light source are shaped and homogenized through the microstructures on the surface of the diffusion sheet, and finally projected on a spatial plane at a certain emission angle through the optical lens 130.
By way of example, the emission module 100 provided by the embodiment of the present disclosure emits light and generates a depth image, when a high spatial resolution depth image needs to be generated, a plurality of frames of projection images may be generated, and the depth images are obtained by superimposing:
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 image area projected at this time is region 1 as 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 ) The projected image area projected at this time is region 2 as in fig. 9.
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 ) The projected image area projected at this time is region 3 as in fig. 9. And the rest can be done in the same way until a depth image meeting the requirement of the angle of field is generated. It should be noted that the offset control of the optical lens 130 needs to be very precise to ensure the image area of each frameAdjacent to each other. 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 the light provided by the light emitting module 110 is transmitted to different areas of the obstacle through the optical lens 130 at different positions, thereby different areas of the obstacle are located in the multi-frame projection images received by the receiving module, the multi-frame projection images received by the splicing receiving module form a depth image, the field angle of the depth sensor is increased, the large-angle remote three-dimensional distance measurement can be realized, and further the large-angle remote depth imaging is realized.
The present disclosure also provides a depth sensor 10, as shown in fig. 10, 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 the photodiodes receive light reflected by the obstacle. And converting the optical signal reflected by the obstacle into an electrical signal to finally form a projection image.
When the depth sensor 10 provided by the embodiment of the disclosure works, multiple frames of projection images can be collected, and finally, the multiple frames of projection 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 projection image is acquired. The deflection angles of the optical lenses 130 corresponding to the projection images of different frames are different, and the light is irradiated to different areas of the obstacle in different frames, that is, the projection areas in the projection images are located in different areas.
The depth sensor 10 provided by the embodiment of the present disclosure adjusts the relative position between the optical lens 130 and the light emitting assembly 110 through the adjusting assembly 140, so that the light provided by the light emitting assembly 110 is transmitted to different areas of the obstacle through the optical lens 130 at different positions, and thus the multi-frame image received by the receiving module 200 includes projections of different areas, that is, projection images of different areas of the obstacle can be obtained, and a depth image with a larger field angle can be obtained by splicing the projection images of different areas of the multi-frame, 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. 11, 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 a projection image corresponding to each position of the optical lens 130 and transmits the plurality of projection images to the control module 20, and the control module 20 splices the plurality of projection images to obtain a depth image.
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 an accommodating space for accommodating other electronic elements 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. The display area 61 performs a display function of the display screen 60 for displaying information such as images and texts. 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 installed in the accommodating 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, which does not mean that the electronic device provided in the embodiment of the present disclosure is only a mobile phone, and the electronic device provided in the embodiment of the present disclosure may be any electronic device with spatial distance measurement, such as a navigator, augmented reality glasses, a camera, virtual reality glasses, an auto-driving automobile, and the like.
The electronic device 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 the light provided by the light emitting component 110 is transmitted to different areas of the obstacle through the optical lens 130 at different positions, thereby different areas of the obstacle in the multi-frame projection images received by the receiving module are located, the multi-frame projection images received by the splicing receiving module form a depth image, the field angle of the depth sensor is increased, the large-angle and long-distance three-dimensional distance measurement can be realized, and further the large-angle and long-distance depth imaging is realized.
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 a light source;
the optical lens is arranged on the light emitting side of the light emitting component and comprises a micro-transmission lens array, and the micro-transmission lens array is used for refracting the light 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 depth image is collected, and further adjusting the propagation direction of light rays provided by the light emitting assembly, so that the light rays irradiate different areas in space when each frame of depth image is collected.
2. The transmitter module of claim 1, wherein the adjustment assembly comprises:
the digital micro-mirror chip, the micro-transmission mirror array is located the digital micro-mirror chip, the digital micro-mirror chip can drive the rotation of the micro-transmission mirror in the micro-transmission mirror array.
3. The transmit module of claim 1, wherein the transmit module further comprises:
the diffusion assembly is arranged between the light-emitting assembly and the optical lens and is used for homogenizing the light emitted by the light-emitting assembly.
4. The transmit module of claim 1, wherein the transmit module further comprises:
the diffusion component is arranged on the light-emitting side of the optical lens and used for homogenizing the light emitted by the light-emitting component.
5. The emissive module of claim 1, wherein the light-emitting assembly comprises:
a laser array for emitting a plurality of laser beams.
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 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, the control module connects transmission module and receiving module respectively, the control module control adjusting part adjusts optical lens to a plurality of positions, receiving module receives the projection image that optical lens corresponds in every position, and will be a plurality of the projection image transmits to control module, control module will be a plurality of the projection image concatenation is in order to obtain the degree of depth image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010740144.6A CN111913305B (en) | 2020-07-28 | 2020-07-28 | Transmitting module, depth sensor and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010740144.6A CN111913305B (en) | 2020-07-28 | 2020-07-28 | Transmitting module, depth sensor and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111913305A CN111913305A (en) | 2020-11-10 |
| CN111913305B true CN111913305B (en) | 2022-11-08 |
Family
ID=73286747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010740144.6A Active CN111913305B (en) | 2020-07-28 | 2020-07-28 | Transmitting module, depth sensor and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111913305B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102650547A (en) * | 2011-12-13 | 2012-08-29 | 北京理工大学 | Optical reading method for micro lens array of non-refrigeration infrared imaging system |
| CN102661575A (en) * | 2012-04-28 | 2012-09-12 | 北京星光影视设备科技股份有限公司 | Light condensation and guide post and LED (Light-Emitting Diode) spotlight thereof |
| CN203385981U (en) * | 2012-03-15 | 2014-01-08 | 普莱姆森斯有限公司 | Projector of structured light |
| CN111025317A (en) * | 2019-12-28 | 2020-04-17 | 深圳奥比中光科技有限公司 | Adjustable depth measuring device and measuring method |
Family Cites Families (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5367151A (en) * | 1989-10-30 | 1994-11-22 | Symbol Technologies, Inc. | Slim scan module with interchangeable scan element |
| JP4379391B2 (en) * | 2005-07-14 | 2009-12-09 | セイコーエプソン株式会社 | Optical scanning device, optical scanning device control method, and image display device |
| JP5702923B2 (en) * | 2009-07-27 | 2015-04-15 | 日本信号株式会社 | Distance image processing system |
| CN104301707B (en) * | 2014-10-22 | 2016-07-06 | 中国科学院合肥物质科学研究院 | Depth image acquisition device and method based on DMD scanning and integrated phase shift range finding |
| CN110133853B (en) * | 2018-02-09 | 2021-09-21 | 舜宇光学（浙江）研究院有限公司 | Method for adjusting adjustable speckle pattern and projection method thereof |
| CN108614353B (en) * | 2018-05-10 | 2020-08-04 | 西安交通大学 | Two-dimensional deflection decoupling mechanism based on ion exchange polymeric metal material and deflection method thereof |
| CN109633683B (en) * | 2019-01-29 | 2021-03-16 | 维沃移动通信有限公司 | Transmitting module, time of flight (TOF) module, mobile terminal and depth detection method |
| CN109861756A (en) * | 2019-03-25 | 2019-06-07 | Oppo广东移动通信有限公司 | The control system and terminal of flight time component |
| CN210465678U (en) * | 2019-05-08 | 2020-05-05 | 深圳奥比中光科技有限公司 | Laser emission device and laser radar system |
| CN210548825U (en) * | 2019-05-10 | 2020-05-19 | 华中科技大学 | Double-beam laser processing optical system |
| CN210129065U (en) * | 2019-06-04 | 2020-03-06 | Oppo广东移动通信有限公司 | Laser emitting device |
| CN110187497A (en) * | 2019-06-11 | 2019-08-30 | 杨荣 | Polarizers of big angle scope scanned imagery device and method based on double mirror |
| CN110716190A (en) * | 2019-09-27 | 2020-01-21 | 深圳奥锐达科技有限公司 | Transmitter and distance measurement system |
| CN210629640U (en) * | 2019-11-08 | 2020-05-26 | 南昌欧菲生物识别技术有限公司 | Light emitting module, depth camera and electronic equipment |
| CN111427230A (en) * | 2020-03-11 | 2020-07-17 | 深圳市安思疆科技有限公司 | Imaging method based on time flight and 3D imaging device |
-
2020
- 2020-07-28 CN CN202010740144.6A patent/CN111913305B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102650547A (en) * | 2011-12-13 | 2012-08-29 | 北京理工大学 | Optical reading method for micro lens array of non-refrigeration infrared imaging system |
| CN203385981U (en) * | 2012-03-15 | 2014-01-08 | 普莱姆森斯有限公司 | Projector of structured light |
| CN102661575A (en) * | 2012-04-28 | 2012-09-12 | 北京星光影视设备科技股份有限公司 | Light condensation and guide post and LED (Light-Emitting Diode) spotlight thereof |
| CN111025317A (en) * | 2019-12-28 | 2020-04-17 | 深圳奥比中光科技有限公司 | Adjustable depth measuring device and measuring method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111913305A (en) | 2020-11-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111830723B (en) | Transmitting module, depth sensor and electronic equipment | |
| TWI493226B (en) | Head-up projection system | |
| EP3185061A1 (en) | Projection device and head-up display device | |
| CN108227203B (en) | AR display method, equipment and device | |
| EP3447561B1 (en) | Head-up display device | |
| WO2000034818A1 (en) | Head-mounted projection display system | |
| CN104360571A (en) | Optical apparatus and imaging system | |
| WO2021027573A1 (en) | Laser projector, depth camera, and electronic apparatus | |
| US11561396B2 (en) | Head-up display device and transportation device | |
| CN111602084B (en) | Spatial multiplexing scheme | |
| CN214067495U (en) | Projection optical system and head-up display device of automobile | |
| CN111913305B (en) | Transmitting module, depth sensor and electronic equipment | |
| CN111953875B (en) | Depth detection assembly and electronic equipment | |
| US11485229B2 (en) | Head-up display | |
| US6967697B2 (en) | Display housing with a display alignment device | |
| CN109946835B (en) | Projection device | |
| CN109946909B (en) | Projection device | |
| CN210401834U (en) | Reference cursor positioning structure of optical imaging device | |
| US10598944B2 (en) | Beam expanding structure and optical display module | |
| CN114002898A (en) | Projection module, assembling method thereof and near-to-eye display equipment comprising projection module | |
| JP2019113834A (en) | Projection device | |
| CN110147028B (en) | Projection device | |
| TWI783331B (en) | Head-up display for vehicle with multiple projecting screens | |
| JP2001013450A (en) | Video display device | |
| JP7456294B2 (en) | Movable devices, deflection devices, distance measuring devices, image projection devices, and vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |