CN112649966A - Structured light projection device and optical equipment - Google Patents

Abstract

The application provides a structured light projection device and an optical apparatus, which can include: the laser generation module, the diffractive optical element DOE and the reflection module; the DOE is arranged on the optical path of the laser beam; the reflection module is arranged on the light path of the structured light; the laser generating module is used for generating laser beams; the DOE is used for generating structured light according to the laser beam; the reflection module is used for reflecting the structured light. By implementing the embodiment of the invention, various parameters of structured light projection can be effectively adjusted so as to meet optical requirements under different conditions and change a light path so as to reduce the volume of the optical equipment.

Description

Structured light projection device and optical equipment

Technical Field

The present application relates to the field of optical measurement, and in particular, to a structured light projection device and an optical apparatus.

Background

With the intensive research and widespread use of structured light applications in the optical field, structured light projection devices or projection assemblies for structured light are also increasingly sophisticated. The structured light principle involved in the technology generally generates an optical signal (i.e., structured light) with certain structural characteristics to be projected to a target object, and then an image of the target object is acquired so as to perform various operations such as measurement in the next step. The link of generating the required structured light is an important step in the whole measurement process, and subsequent data acquisition is influenced. The current modules for generating structured light are basically fixed in structure, and can generate light signals with fixed characteristic structures. When the generated optical signal needs to be changed, different components generating structured light generally need to be replaced, and the structured light generated by the replaced components is not completely matched, so that the requirements on the light source are difficult to well meet. In the existing scheme, an optical path is not easy to change, and a required optical device occupies a large space, so that the equipment is large in size and inconvenient to carry.

Disclosure of Invention

The application provides a structured light projection device and optical equipment, can adjust each item parameter such as structured light projection direction effectively to reduce equipment volume and satisfy the demand under the different situation.

In a first aspect, an embodiment of the present invention provides a structured light projection apparatus, which may include:

a laser generation module, a Diffractive Optical Elements (DOE), a reflection module; the reflection module is arranged on the light path of the structured light; the laser generating module is used for generating laser beams; the DOE is arranged on the light path of the laser beam; the DOE is used for generating structured light according to a laser beam; the reflection module is used for reflecting the structured light.

The structured light projection device in the embodiment of the invention comprises a laser generation module (or original light source), a diffractive optical element DOE and a reflection module. These modular components can be flexibly combined and generate the required structured light as required. After the structured light assembly is installed, firstly, a laser beam (or called a light source) is generated through a laser generation module, and the laser beam is projected to a DOE (DOE) arranged on a beam light path; the DOE generates structured light according to the light beam; and finally, the structured light generated by the DOE can be subjected to reflection processing through a reflection module. By implementing the embodiment of the invention, the required structured light can be simply and conveniently generated, and the projection direction of the light source can be freely adjusted through the reflection module; and the structured light formed by the light beams can be effectively changed by changing the related structure of the DOE, so that the structured light with different structural characteristics can be obtained. And by flexibly combining the required optical devices and changing the light path through the reflection module, more optical signals can be processed in a limited equipment space.

In one possible implementation, the reflection module is a plane mirror; the structured light is projected at a first angle to the plane mirror; the plane mirror is used for reflecting the structured light parallel to the plane mirror.

In one possible implementation, the apparatus further includes a driving module; the driving module is connected with the laser generating module; the driving module is used for driving the laser generating module to perform first rotation in a preset direction so as to enable the structured light to perform the first rotation; the plane mirror is used for generating cross structured light under the condition that the structured light generates a first rotation.

In one possible implementation, the rotation speed and the preset direction of the first rotation are adjusted according to the cross-structured light.

In one possible implementation, the apparatus further comprises a lens; the lens is arranged on the light path of the structured light; the driving module is further used for controlling the distance between the laser generating module and the lens by driving the laser generating module so as to adjust the laser beam.

In one possible implementation, the drive module includes a motor.

In one possible implementation, the apparatus further comprises a display screen; the lens is arranged in the light path of the structured light and comprises: an optical path between the reflective module and the display screen, or an optical path between the DOE and the reflective module.

In one possible implementation, the apparatus further includes an acquisition module; the acquisition module is used for acquiring image information formed by the structured light.

In a second aspect, an embodiment of the present invention provides a structured light projection apparatus, which may include: a laser generation module, a diffractive optical element DOE, one or more reflection modules; the laser generating module is used for generating laser beams; the DOE is arranged on the optical path of the laser beam; the DOE is used for generating structured light with preset optical characteristics according to the laser beam; the one or more reflection modules are arranged on the optical path of the structured light; the one or more reflective modules are to reflect the structured light. For example, the use of the reflection module can be reduced in the case of low requirements on the volume of the device. When the optical device needs to be reduced in size, a plurality of reflecting modules can be used, and each reflecting module can be a different reflecting element, such as a plane mirror, a magnifying lens or a prism, and the like, and can also be a certain inhomogeneous medium, and the like.

Optionally, the one or more reflective modules comprise a planar mirror; the structured light is projected at a first angle to the plane mirror; the plane mirror is used for reflecting the structured light at a second angle; the first angle and the second angle are adjustable light incidence angles.

Optionally, the apparatus further comprises a drive module; the driving module is connected with the laser generating module; the driving module is used for driving the laser generating module to perform first rotation in a preset direction so as to enable the structured light to perform the first rotation; the plane mirror is used for generating cross structured light under the condition that the structured light generates a first rotation. Further optionally, the cross-structure light is one of a parameter that adjusts a rotational speed of the first rotation and the preset direction.

Optionally, the device further comprises a lens; the lens is arranged on the light path of the structured light; the driving module is further used for controlling the distance between the laser generating module and the lens by driving the laser generating module so as to adjust the laser beam. Optionally, the drive module comprises an electric motor, an air cylinder or a hydraulic cylinder.

Optionally, the device further comprises a display screen; the lens is arranged on the light path of the structured light and comprises: the lens is disposed on a light path between the reflection module and the display screen, or the lens is disposed on a light path between the DOE and the reflection module.

Optionally, the apparatus further comprises an acquisition module; the acquisition module is used for acquiring image information formed by the structured light. Further optionally, the apparatus further comprises a processing module; the processing module is connected with the laser generating module; the processing module is also connected with the driving module; the processing module is used for controlling the intensity of the laser beam generated by the laser generating module and adjusting the motion state of the driving module; the motion conditions include rotation and/or translation.

In a third aspect, embodiments of the present invention provide an optical device that may include a processor, an input device, an output device, a memory, a structured light projection apparatus, and associated components or apparatus connected to the structured light projection apparatus. The processor, input device, output device, and memory are interconnected. The processor is used for controlling the structured light projection device to project the structured light. Wherein the structured light projection device may be a device as mentioned in the first or second aspect.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments or the description of the prior art will be briefly described below.

FIG. 1 is a schematic diagram of a core structure of a structured light projection apparatus according to an embodiment of the present invention;

fig. 2 is a schematic architecture diagram corresponding to the core structure of fig. 1 according to an embodiment of the present invention;

FIG. 3 is a schematic block diagram of another core architecture corresponding to the core architecture of FIG. 1 according to an embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating an overall structure of a structured light projection device according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a structure corresponding to the complete structure of FIG. 4 according to an embodiment of the present invention;

FIG. 6 is a schematic block diagram of another embodiment of the present invention corresponding to the complete structure shown in FIG. 4;

FIG. 7 is a schematic diagram of an architecture corresponding to the complete structure of FIG. 4 according to another embodiment of the present invention;

FIG. 8 is a schematic diagram of an architecture corresponding to the complete structure of FIG. 4 according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of an architecture corresponding to the complete structure of FIG. 4 according to another embodiment of the present invention;

fig. 10 is a schematic structural diagram of an optical device according to an embodiment of the present invention.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments that can be derived by a person skilled in the art from the embodiments given herein without making any creative effort shall fall within the protection scope of the present application.

The terms "first," "second," "third," and "fourth," etc. in the description and claims of this application and in the accompanying drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

First, some terms in the embodiments of the present invention are explained so as to be easily understood by those skilled in the art.

(1) A diffraction grating is a type of grating. It passes through a regular structure such that either the amplitude or the phase of the incident light (or both are subjected to periodic spatial modulation). The most important optical application of diffraction gratings is as beam splitters, often used in monochromators and spectrometers. A diffraction grating may also be referred to as a diffractive optical element in embodiments of the present invention.

(2) Structured light is a set of system structures consisting of a projector and a camera. The projector is used for projecting specific light information to the surface of an object and the background, and the specific light information is collected by the camera. Information such as the position and depth of the object is calculated from the change of the optical signal caused by the object, and the entire three-dimensional space is restored.

Referring to fig. 1, fig. 1 is a schematic diagram of a core structure of a structured light projection apparatus according to an embodiment of the present invention; as shown in fig. 1, the structured light projection apparatus core structure 10 in this apparatus embodiment includes a laser generation module 101, a diffractive optical element DOE102, a reflection module 103; the laser generating module 101 is used for generating a laser beam; the DOE102 is disposed on the optical path of the laser beam; the DOE102 is configured to generate structured light from a laser beam; the reflection module 103 is arranged on the optical path of the structured light; the reflection module 103 is used for reflecting the structured light. Wherein the content of the first and second substances,

the laser generation module comprises one or more laser light sources; under the preset parameter setting, the laser generation module can control one or more laser light sources to emit laser. For example, in the case that there is only one laser light emitting source in the laser generating module, the laser generating module may control the light emitting source to emit laser light according to a preset frequency or a preset illumination intensity. Optionally, the laser generation module further comprises a processor and a memory; the processor is used for controlling one or more laser generating sources in the laser generating module to emit laser according to a preset program or steps or modes; the memory is used for storing programs or codes executed by the processor. Alternatively, the laser generating module can also be other light emitting sources of the same type.

The diffractive optical element 102 is disposed on an optical path of laser light emitted from the laser light generation module; the laser emitted by the laser generating module is irradiated on the diffraction optical element; the diffractive optical element may be a preselected diffractive optical element for producing a particular optical structure; in which the diffractive optical element can be replaced according to specific optical requirements. The reflection module 103 is used for reflecting the structured light projected onto the reflection module. Alternatively, the reflection module 103 may be a device or module assembly that normally reflects light beams, such as a flat mirror.

The structured light projection device in the embodiment of the invention comprises a laser generation module (or original light source), a diffractive optical element DOE and a reflection module. These modular components can be flexibly combined and generate the required structured light as required. After the structured light assembly is installed, firstly, a laser beam (or called a light source) is generated through a laser generation module, and the laser beam is projected to a DOE (DOE) arranged on a beam light path; the DOE generates structured light according to the light beam; and finally, the structured light generated by the DOE can be subjected to reflection processing through a reflection module. By implementing the embodiment of the invention, the required structured light can be simply and conveniently generated, and the projection direction of the light source can be freely adjusted through the reflection module; in the embodiment of the invention, the optical path is changed through reflection, so that the components can be placed in a limited space of the equipment as much as possible. And the structural light formed by the light beams can be effectively changed by changing the related structure of the DOE, so that the structural light with different structural characteristics is obtained.

It should be noted that, in the following drawings, the embodiment of the present invention is described by taking a single laser generation module, a single diffractive optical element, and a single reflection module as examples, and the number of the modules, the selection of the specific device model, the selection of the number, and the like in the present application are not limited.

In the above, an embodiment of the apparatus according to the present invention is described, and a schematic diagram of a module connection corresponding to the embodiment of the apparatus is described below.

Referring to fig. 2-3, fig. 2 is a schematic diagram of an architecture corresponding to the core structure of fig. 1 according to an embodiment of the present invention; as shown in fig. 2, the architecture of the core structure may include a laser generation module 101, a diffractive optical element 102, and a reflection module 103. The laser generating module 101 is connected to the diffractive optical element 102, and a laser beam or other light source meeting processing requirements generated by the laser generating module can be transmitted through an optical fiber or other optical transmission devices. After the diffractive optical element 102 receives the light beam emitted by the laser generation module 101, the light beam is processed by the diffractive optical element to emit structured light conforming to specific structural features. The diffractive optical element 102 irradiates light on the reflection module 103; the reflection module 103 projects the received structured light to the target area at a specific angle. The lens structure (or lens-like component) of fig. 2, and the diffraction grating or conditional slit adjacent to the lens structure. In fig. 2, the reflection module projects the structured light generated by the diffractive optical element 102 through the 2 components to form light with specific structural features. As shown in fig. 2, the diffractive optical element 102 may include lenses and gratings as shown, and the number, arrangement and structure of the lenses and gratings are not limited by the embodiment of the present invention. For example, between the laser generation module 101 and the exit of the final projected structured light, a plurality of reflection modules and corresponding diffractive optical elements may be provided as required. In order to reduce the overall volume of the optical apparatus, the optical path and the reflection direction may be adjusted by the arrangement of a reflection module or the like.

It should be noted that, in fig. 2 and the similar drawings of the present application, the laser generation module 101 is exemplarily shown as a connection case of 2 components. In a specific production application scenario, the laser generation module may be a single integrated multifunctional component or a module assembled by multiple components. As shown in fig. 2, the laser generation module 101 may include a circuit board and a laser emitting diode. The circuit board can supply power to the laser emitting diode, adjust parameters of light beams emitted by the diode and the like. The structure of the laser generating module 101 according to the embodiment of the present invention is not limited and will not be described again, and the above-mentioned 2 will be described as a whole.

The following is a description of an example architecture of another structured light projection device.

Referring to fig. 3, fig. 3 is a schematic diagram of another architecture corresponding to the core structure of fig. 1 according to an embodiment of the present invention; as shown in fig. 3, the architecture of the core structure includes a laser light generation module 101, a diffractive optical element 102, and a reflection module 103. The laser generating module 101 is connected to the diffractive optical element 102, and a laser beam or a light source generated by the laser generating module can be transmitted through an optical fiber or other optical transmission devices. After the diffractive optical element 102 receives the light beam emitted by the laser generation module 101, the light beam is processed by the diffractive optical element to emit structured light conforming to specific structural features. The diffractive optical element 102 irradiates light on the reflection module 103; the reflection module 103 projects the received structured light to the target area at a specific angle. The structure shown in fig. 3 is substantially the same as the structure shown in fig. 2, and the generated structured light is adjusted by changing the positions of some parts in the entire device. In fig. 3, a lens-like structural component is arranged between the diffractive optical element 102 and the reflection module 103 to adjust and intervene on the characteristics of the finally projected light. The lens and the grating shown in fig. 3 constitute the diffractive optical element 102, and the lens and the grating may be provided separately. The diffractive optical element will not be described in detail in the following drawings.

The device embodiment according to the present invention is explained in detail above, and the device embodiment according to the present invention is described below.

Referring to fig. 4, fig. 4 is a schematic view illustrating an entire structure of a structured light projection apparatus according to an embodiment of the present invention; as shown in fig. 4, the structured light projection device complete structure 30 may include a laser generation module 101, a diffractive optical element DOE102, a reflection module 103, a driving module 104, a lens 105, a display screen 106, and an acquisition module 107. Optional elements may also include a drive module 104, a lens 105, a display screen 106, and an acquisition module 107. In particular, the lens 105 may be the same type of component or differ from the aforementioned lens structure. The reflection module is arranged on the light path of the structured light; the laser generating module is used for generating laser beams; the DOE is arranged on the light path of the laser beam; the DOE is used for generating structured light according to a laser beam; the reflection module is used for reflecting the structured light.

In one possible implementation, the reflection module 103 is a plane mirror; the structured light is projected at a first angle to the plane mirror; the plane mirror is used for reflecting the structured light parallel to the plane mirror.

In one possible implementation, the structured light projection device complete structure 30 further includes a drive module 104; the driving module 104 is connected with the laser generating module 101; the driving module 104 is configured to drive the laser generating module 101 to perform a first rotation in a preset direction, so that the structured light generates the first rotation; the plane mirror is used for generating cross structured light under the condition that the structured light generates a first rotation.

In one possible implementation, the rotation speed and the preset direction of the first rotation are adjusted according to the cross-structured light.

In one possible implementation, the structured light projection device complete structure 30 further includes a lens 105; the lens 105 is arranged on the optical path of the structured light; the driving module 104 is further configured to control a distance between the laser generating module 101 and the lens 105 by driving the laser generating module, so as to adjust the laser beam.

In one possible implementation, the drive module 104 includes a motor. The drive module 104 may also be a drive component other than a motor. In one possible implementation, the structured light projection device complete structure 30 further includes a display screen 106; the lens 105 is disposed in the optical path of the structured light and includes: an optical path between the reflective module 103 and the display screen 106, or an optical path between the DOE102 and the reflective module 103.

In one possible implementation, the structured light projection device complete structure 30 further includes an acquisition module 107; the collecting module 107 is used for collecting image information formed by the structured light.

The structured light projection device in the embodiment of the invention comprises a laser generation module (or original light source), a diffractive optical element DOE and a reflection module. These modular components can be flexibly combined and generate the required structured light as required. After the structured light assembly is installed, firstly, a laser beam (or called a light source) is generated through a laser generation module, and the laser beam is projected to a DOE (DOE) arranged on a beam light path; the DOE generates structured light according to the light beam; and finally, the structured light generated by the DOE can be subjected to reflection processing through a reflection module. By implementing the embodiment of the invention, the required structured light can be simply and conveniently generated, and the projection direction of the light source can be freely adjusted through the reflection module; and the structured light formed by the light beams can be effectively changed by changing the related structure of the DOE, so that the structured light with different structural characteristics can be obtained.

It should be noted that, for the functions of each functional unit of the complete structure 30 of the structured light projection device in the embodiment of the apparatus of the present invention, reference may be made to the related description in the embodiment of the apparatus corresponding to fig. 1, and details are not repeated herein.

In the above, another embodiment of the apparatus according to the present invention is described, and the following describes an architecture diagram of four module connections corresponding to the embodiment of the apparatus.

Referring to fig. 5, fig. 5 is a schematic diagram of an architecture corresponding to the complete structure of fig. 4 according to an embodiment of the present invention; as shown in fig. 5, the complete structure architecture may include a laser generation module 101, a diffractive optical element 102, and a reflection module 103. The laser generating module 101 is connected to the diffractive optical element 102, and a laser beam or a light source generated by the laser generating module can be transmitted through an optical fiber or other optical transmission devices. After the diffractive optical element 102 receives the light beam emitted by the laser generation module 101, the light beam is processed by the diffractive optical element to emit structured light conforming to specific structural features. The diffractive optical element 102 irradiates light on the reflection module 103; the reflection module 103 projects the received structured light to the target area at a specific angle. It can be understood that the material of the different reflective modules and the positions of the reflective modules can affect the reflected light. The structural components in the figure may also include lenses and gratings. It is to be understood that only the key components corresponding to those related to the structured light projection portion of fig. 4 are listed in the embodiments of the present invention, and other non-core components are not fully shown.

Referring to fig. 6, fig. 6 is a schematic diagram of another architecture corresponding to the complete structure of fig. 4 according to an embodiment of the present invention; as shown in fig. 6, the complete structure includes a laser generation module 101, a diffractive optical element 102, and a reflection module 103. The laser generating module 101 is connected to the diffractive optical element 102, and a laser beam or a light source generated by the laser generating module can be transmitted through an optical fiber or other optical transmission devices. After the diffractive optical element 102 receives the light beam emitted by the laser generation module 101, the light beam is processed by the diffractive optical element to emit structured light conforming to specific structural features. The diffractive optical element 102 irradiates light on the reflection module 103; the reflection module 103 projects the received structured light to the target area at a specific angle. In fig. 6, by rotating the laser light generation module 101 or the diffractive optical element 102 in a certain direction, the cross structured light can be formed by reflection by the reflection module. Specifically, when the laser light generation module is rotated in a certain direction, one or more parameters such as a rotation angle, a rotation speed, or a rotation frequency may be adjusted. It is to be understood that only the key components corresponding to those related to the structured light projection portion of fig. 4 are listed in the embodiments of the present invention, and other non-core components are not fully shown. The structural components in the figure may also include lenses and gratings.

Referring to fig. 7, fig. 7 is a schematic diagram of another architecture corresponding to the complete structure of fig. 4 according to an embodiment of the present invention; as shown in fig. 7, the complete structure architecture includes a laser light generation module 101, a diffractive optical element 102, a reflection module 103, and a lens 105. The laser generating module 101 is connected to the diffractive optical element 102, and a laser beam or a light source generated by the laser generating module can be transmitted through an optical fiber or other optical transmission devices. After the diffractive optical element 102 receives the light beam emitted by the laser generation module 101, the light beam is processed by the diffractive optical element to emit structured light conforming to specific structural features. The diffractive optical element 102 irradiates light on the reflection module 103 (wherein the reflection module is not shown in fig. 7); the reflection module 103 projects the received structured light to the target area at a specific angle. The structural components in the figure may also include gratings. The lens 105 is disposed between the grating structure included in the diffractive optical element 102 and the laser light generation module 101. The distance of the diffractive optical element 102 from the lens 105 can be represented by R in fig. 7; the distance R affects the quality of the beam. It is to be understood that only the key components corresponding to those related to the structured light projection portion of fig. 4 are listed in the embodiments of the present invention, and other non-core components are not fully shown.

Referring to fig. 8, fig. 8 is a schematic diagram of another architecture corresponding to the complete structure of fig. 4 according to an embodiment of the present invention; as shown in fig. 8, the core structure includes a laser light generating module 101, a diffractive optical element 102, and a reflecting module 103. The laser generating module 101 is connected to the diffractive optical element 102, and a laser beam or a light source generated by the laser generating module can be transmitted through an optical fiber or other optical transmission devices. After the diffractive optical element 102 receives the light beam emitted by the laser generation module 101, the light beam is processed by the diffractive optical element to emit structured light conforming to specific structural features. The diffractive optical element 102 irradiates light on the reflection module 103 (wherein the reflection module is not shown in fig. 8); the reflection module 103 projects the received structured light to the target area at a specific angle. It can be understood that the material of the different reflective modules and the positions of the reflective modules can affect the reflected light. The structural components in the figure may also include gratings. The lens 105 is disposed between the grating structure included in the diffractive optical element 102 and the laser light generation module 101. The distance between the diffractive optical element 102 and the lens 105 can be represented by R' in fig. 7 (which is different from R in the preceding figures in terms of the numerical value of the distance therebetween); the distance R affects the quality of the light beam, and as can be seen from a comparison between fig. 7 and fig. 8, the distances between different diffractive optical elements and the lens cause different projected lights so as to meet the requirements of different scenes or different situations for the projection of the structured light. It is to be understood that only the key components corresponding to those related to the structured light projection portion of fig. 4 are listed in the embodiments of the present invention, and other non-core components are not fully shown.

The above describes several structural light architectures provided by the embodiments of the present invention, and another kind of reflective module and light path conditions are introduced below.

As shown in fig. 9, fig. 9 is another schematic structural diagram corresponding to the complete structure of fig. 4 according to an embodiment of the present invention; as shown in fig. 9, a laser generation module 101 and a reflection module 103 are listed in the architecture. The laser light generation module emits laser light to the reflection module 103. In the embodiment of the invention, the reflecting module is a prism; the prism is used for projecting the laser emitted by the laser generating module in an antiparallel manner, namely, the direction of the reflected laser is opposite to the direction of the incident laser. Alternatively, the diffractive optical element 102 may be disposed at any position in the optical path of the laser light emitted by the laser light generation module 101. The location of the components is not specifically shown in embodiments of the present invention. It is to be understood that only the key components corresponding to those related to the structured light projection portion of fig. 4 are listed in the embodiments of the present invention, and other non-core components are not fully shown.

Referring to fig. 10, fig. 10 is a schematic structural diagram of an optical apparatus according to an embodiment of the present invention. The aforementioned means may comprise the structure in fig. 10; the apparatus 90 may include at least one memory 901, at least one input device 902, at least one processing device 903, at least one output device 904, and at least one structured light projection arrangement 905. In addition, the device may also include general components such as an antenna, a power supply, etc., which will not be described in detail herein. The processor 903 is configured to control the structured light projection device to project structured light.

The Memory 901 may be, but is not limited to, a Read-Only Memory (ROM) or other type of static storage device that can store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that can store information and instructions, an Electrically Erasable Programmable Read-Only Memory (EEPROM), a compact disc Read-Only Memory (CD-ROM) or other optical disc storage, optical disc storage (which may include compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory may be self-contained and coupled to the processor via a bus. The memory may also be integral to the processor.

The input device 902 may receive other devices, network signals, or the like, or may receive an instruction from a human-computer interaction device or an input instruction from a user. Alternatively, the input device may be a keyboard, mouse, touch screen, microphone, camera, or the like.

The processor 903, which may be a general purpose Central Processing Unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of programs according to the above schemes.

And an output device 904 for outputting the processing result of the processor. Alternatively, the output device may be a display screen, a sound device (such as a sound device), or a part of a mechanical structure of the control apparatus to make a certain motion or gesture.

When the apparatus shown in fig. 9 is a structured light projection device core structure 10 or a structured light projection device complete structure 30, the structured light projection device 905 may include a laser generation module, a diffractive optical element DOE, and a reflection module; the laser generating module is used for generating laser beams; the DOE is arranged on the optical path of the laser beam; the DOE is used for generating structured light according to the laser beam; the reflection module is arranged on the light path of the structured light; the reflection module is used for reflecting the structured light.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus can be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units is only one type of division of logical functions, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. The elements of the above device embodiments may or may not be physically separated, and some or all of the elements may be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present invention.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product.

Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and may include several instructions to enable a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute all or part of the steps of the above methods according to the embodiments of the present invention. Among them, the aforementioned storage medium may include: a U-disk, a removable hard disk, a magnetic disk, an optical disk, a Read-Only Memory (ROM) or a Random Access Memory (RAM), and the like. The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A structured light projection device, comprising: a laser generation module, a diffractive optical element DOE, one or more reflection modules;

the laser generating module is used for generating laser beams; the DOE is arranged on the optical path of the laser beam;

the DOE is used for generating structured light with preset optical characteristics according to the laser beam; the one or more reflection modules are arranged on the optical path of the structured light;

the one or more reflective modules are to reflect the structured light.

2. The structured light projection device of claim 1, wherein the one or more reflection modules comprise a planar mirror; the structured light is projected at a first angle to the plane mirror; the plane mirror is used for reflecting the structured light at a second angle; the first angle and the second angle are adjustable light incidence angles.

3. The structured light projection device of claim 2, wherein the device further comprises a drive module; the driving module is connected with the laser generating module;

the driving module is used for driving the laser generating module to perform first rotation in a preset direction so as to enable the structured light to perform the first rotation;

the plane mirror is used for generating cross structured light under the condition that the structured light generates a first rotation.

4. A structured light projection device according to claim 3 wherein the intersecting structured light is one of a parameter that adjusts a speed of rotation of the first rotation and the predetermined direction.

5. A structured light projection device according to claim 3 wherein the device further comprises a lens; the lens is arranged on the light path of the structured light;

the driving module is further used for controlling the distance between the laser generating module and the lens by driving the laser generating module so as to adjust the laser beam.

6. The structured light projection device of claim 3, wherein the drive module comprises a motor, a pneumatic cylinder, or a hydraulic cylinder.

7. A structured light projection device according to claim 5, wherein the device further comprises a display screen; the lens is arranged on the light path of the structured light and comprises: the lens is disposed on a light path between the reflection module and the display screen, or the lens is disposed on a light path between the DOE and the reflection module.

8. The structured light projection device of claim 1, wherein the device further comprises an acquisition module; the acquisition module is used for acquiring image information formed by the structured light.

9. A structured light projection device according to any of claims 3 to 7, wherein the device further comprises a processing module; the processing module is connected with the laser generating module; the processing module is also connected with the driving module;

the processing module is used for controlling the intensity of the laser beam generated by the laser generating module and adjusting the motion state of the driving module; the motion conditions include rotation and/or translation.

10. An optical device comprising a structured light projection device as claimed in any one of claims 1 to 9 and associated components or means connected to the structured light projection device.

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