CN112817010A

CN112817010A - Projection device, three-dimensional imaging system, three-dimensional imaging method and electronic product

Info

Publication number: CN112817010A
Application number: CN202110182075.6A
Authority: CN
Inventors: 臧凯; 马志洁; 张超
Original assignee: Shenzhen Adaps Photonics Technology Co ltd
Current assignee: Shenzhen Adaps Photonics Technology Co ltd
Priority date: 2021-02-08
Filing date: 2021-02-08
Publication date: 2021-05-18

Abstract

The application relates to a projection device, a three-dimensional imaging system, a three-dimensional imaging method and an electronic product. The projection device includes: a drive circuit board; 2 x N +1 light emitting arrays, N being a positive integer; each light emitting array comprises at least one light emitting strip, and the light emitting strips of 2 × N +1 light emitting arrays are periodically arranged along a first direction; each light emitting strip comprises at least two light emitters arranged along a second direction; 2N +1 control lines which correspond to the 2N +1 light emitting arrays one by one, wherein each control line is connected with each light emitter in the corresponding light emitting array and is used for controlling each light emitter in the corresponding light emitting array to input a driving signal at the same time and emitting light when the driving signal is input; at most 2X N control lines in 2X N +1 control lines are supplied with driving signals at the same time. By the method and the device, the success rate and the precision of the three-dimensional imaging system for correctly detecting the object distance can be improved.

Description

Projection device, three-dimensional imaging system, three-dimensional imaging method and electronic product

Technical Field

The present disclosure relates to the field of semiconductor technologies, and in particular, to a projection device, a three-dimensional imaging system, a three-dimensional imaging method, and an electronic product.

Background

Three-dimensional imaging is a way of perceiving a three-dimensional real world. Among a plurality of three-dimensional imaging modes, a direct time-of-flight (dtoft) distance measurement method has the advantages of high precision, long distance, high system integration level and the like, and is widely concerned and used. When the dToF ranging method is applied, an optical signal emitted by a light source is reflected by a measured object and then received by a sensor, the distance of the measured object can be calculated by the time interval from a reflection end to a receiving end of the optical signal and the speed of light, and information in the depth direction is obtained to carry out three-dimensional imaging.

Current dtofs-based three-dimensional imaging systems include planar and scanning. In order to increase the speed of three-dimensional imaging, a three-dimensional imaging system of a planar array type is generally used. In a three-dimensional imaging system of a planar array type, a light source illuminates the whole scene in a field range, and a sensor receives a light signal reflected by an object, so that the distance of the object can be calculated. The whole process is short in time consumption, and rapid imaging can be achieved.

However, when the ambient light noise is large or when the object is far away, the emission power of the optical signal needs to be increased, the energy of the optical signal needs to be increased, the signal-to-noise ratio needs to be increased when the ambient light noise is large, or the optical signal needs to be projected onto the object when the object is far away. However, electronic products such as a mobile phone where the three-dimensional imaging system is located have strict limitations on power consumption, and the emission power of optical signals is limited, so that the success rate and accuracy of the three-dimensional imaging system for correctly detecting the object distance are low.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a projection apparatus, a three-dimensional imaging system, a three-dimensional imaging method, and an electronic product, which can improve the success rate and accuracy of correctly detecting the object distance by the three-dimensional imaging system.

In a first aspect, the present application provides a projection device comprising:

a drive circuit board;

2N +1 light emission arrays arranged on the same surface of the driving circuit board, wherein N is a positive integer; each light emitting array comprises at least one light emitting strip, and the light emitting strips of the 2 x N +1 light emitting arrays are periodically arranged along a first direction; each of the light emitting bars includes at least two light emitters arranged along a second direction, the second direction being perpendicular to the first direction;

2N +1 control lines which correspond to the 2N +1 light emitting arrays one by one are arranged on the driving circuit board; each control line is connected with each light emitter in the corresponding light emitting array and is used for controlling each light emitter in the corresponding light emitting array to input a driving signal at the same moment and emit light rays when the driving signal is input; and at most 2N control lines in the 2N +1 control lines are supplied with the driving signals at the same time.

In one embodiment, the light emitters of two adjacent light-emitting bars in the same light-emitting array are alternately arranged along the second direction.

In one embodiment, the light emitters of two light emitting bars adjacent to the same light emitting bar in the same light emitting array are arranged side by side along the first direction.

In one embodiment, the light emitters of two adjacent light emission strips in the 2 × N +1 light emission arrays are alternately arranged along the second direction.

In one embodiment, the light emitters of two light emission bars adjacent to the same light emission bar in the 2 × N +1 light emission arrays are arranged side by side along the first direction.

In one embodiment, N ═ 1.

In one embodiment, the distance between two adjacent light emitting bars is a constant value.

In one embodiment, the distance between two adjacent light emitters in the same light emitting bar is a constant value.

In one embodiment, the number of light emission stripes in each light emission array is more than six.

In one embodiment, the number of light emitters in each of the light bars is more than eight.

In one embodiment, each of the light emitters is a vertical cavity surface emitting laser.

In one embodiment, the time when the 2 × N +1 control lines are supplied with the driving signals is different; or, the time when the driving signals are introduced into at least two control lines in the 2 × N +1 control lines is the same.

In one embodiment, the projection device further includes: and the diffractive optical element is arranged on a propagation path of the light emitted by the 2 x N +1 light emitting arrays and is used for dividing each light emitted by the 2 x N +1 light emitting arrays into a plurality of lights distributed in an array.

In one embodiment, the projection device further includes: and the collimating mirror is arranged on a propagation path of the light emitted by the 2 x N +1 light emitting arrays, is positioned between the 2 x N +1 light emitting arrays and the diffractive optical element, and is used for adjusting each light emitted by the 2 x N +1 light emitting arrays into parallel light.

In a second aspect, the present application provides a three-dimensional imaging system comprising:

the projection device provided by the first aspect is used for emitting light rays to a target object;

the detection device is arranged in an area, the distance between the detection device and the propagation path of the light emitted by the projection device is smaller than a threshold value, and the detection device is used for detecting the light reflected by the target object;

and the processing device is respectively connected with the projection device and the detection device and is used for carrying out three-dimensional imaging according to the propagation time of the light.

In one embodiment, the detection device comprises:

a carrier plate;

a plurality of optical detectors disposed on the same surface of the carrier plate; each optical detector corresponds to one light emitter and is used for detecting light rays emitted to the target object by the corresponding light emitter and reflected by the target object and generating detection signals when the light rays are detected; the number of the optical detectors is larger than or equal to the number of the optical emitters in the projection device, and each optical emitter corresponds to at least one optical detector;

the data lines are arranged on the bearing plate and correspond to the optical detectors one by one; each data line is respectively connected with the corresponding optical detector and the processing device and is used for transmitting the detection signal generated by the corresponding optical detector to the processing device.

In one embodiment, each of the optical detectors is a single photon avalanche diode.

In one embodiment, the plurality of optical detectors are distributed in an array on the carrier plate.

In one embodiment, the processing device includes a plurality of processing units, each data line is connected to one processing unit, each processing unit is connected to at least two data lines, optical detectors corresponding to the data lines connected to the same processing unit are adjacent to each other, and each processing unit is configured to superimpose detection signals introduced to the connected data lines at the same time.

In one embodiment, the optical detectors corresponding to the data lines connected to the processing unit are arranged along the row direction; or the optical detectors corresponding to the data lines connected with the processing unit are arranged along the column direction; or the optical detectors corresponding to the data lines connected with the processing unit are distributed in an array.

In a third aspect, the present application provides an electronic product including the three-dimensional imaging system provided in the second aspect.

In a fourth aspect, the present application provides a three-dimensional imaging method, comprising:

at the same time, driving signals are introduced into at most 2 × N control lines in 2 × N +1 control lines, light emitters connected with the at most 2 × N control lines are driven to emit light to a target object, and N is a positive integer; the 2 × N +1 control lines are arranged on a driving circuit board, and one surface of the driving circuit board is provided with 2 × N +1 light emitting arrays which correspond to the 2 × N +1 control lines one by one; each light emitting array comprises at least one light emitting strip, and the light emitting strips of the 2 x N +1 light emitting arrays are periodically arranged along a first direction; each of the light emitting bars includes at least two light emitters arranged along a second direction, the second direction being perpendicular to the first direction; each light emitter is connected with a corresponding control line of the light emitting array;

detecting light reflected by the target object;

and performing three-dimensional imaging according to the propagation time of the light.

In one embodiment, the detecting the light reflected by the target object includes:

determining optical detectors of a plurality of optical detectors corresponding to the light emitters connected to the at most N control lines; each of the optical detectors corresponds to one of the light emitters, and each of the light emitters corresponds to at least one of the optical detectors;

and turning on certain optical detectors to detect the light reflected by the target object and generating a detection signal when the light is detected, and turning off optical detectors other than the certain optical detectors in the plurality of optical detectors.

In one embodiment, the determining the optical detector corresponding to the light emitter connected to the at most N control lines in the plurality of optical detectors includes: driving signals are introduced to different control lines at different moments, and the driving light emitter emits light to the target object when the connected control lines are introduced with the driving signals; simultaneously turning on the plurality of optical detectors to detect the light reflected by the target object and generating a detection signal when detecting the light; and corresponding the light emitter to an optical detector for detecting the light emitted by the light emitter.

In one embodiment, the three-dimensional imaging according to the propagation time of the light comprises: forming a histogram by taking time as an abscissa and intensity of the detection signal as an ordinate; taking the time of the maximum intensity of the detection signal in the histogram as the receiving time of the light; and determining the distance of the target object according to the receiving time and the emitting time of the light rays to perform three-dimensional imaging.

In one embodiment, the forming a histogram with time as an abscissa and the intensity of the detection signal as an ordinate includes: superposing detection signals generated by at least two adjacent optical detectors at the same time; and forming a histogram by taking the time as an abscissa and the intensity of the superposed detection signal as an ordinate.

The projection device, the three-dimensional imaging system, the three-dimensional imaging method and the electronic product are characterized in that 2 x N +1 control lines and 2 x N +1 light emission arrays are arranged through the driving circuit board, N is a positive integer, the 2 x N +1 light emission arrays correspond to the 2 x N +1 control lines one by one, each control line is connected with each light emitter in the corresponding light emission array, namely the control lines connected with all light reflectors in the same light emission array are the same, and the control lines connected with the light reflectors in different light reflection arrays are different. If a driving signal is introduced into one control line, all the light emitters connected with the control line can be introduced with the driving signal at the same time and emit light when the driving signal is introduced, so that each control line can control each light emitter in the corresponding light emitting array to emit light at the same time, namely, each light emitter in the same light emitting array emits light at the same time. The time of the driving signal introduced into each control line can be different, so that the light reflectors in different light reflection arrays can emit light at different times. The light emitting arrays comprise at least one light emitting strip, the light emitting strips of 2 × N +1 light emitting arrays are periodically arranged along a first direction, each light emitting strip comprises at least two light emitters, the light emitters of the same light emitting strip are arranged along a second direction perpendicular to the first direction, so that control lines connected with the light emitters arranged along the first direction are periodically changed, the control lines connected with the light emitters arranged along the second direction perpendicular to the first direction are the same, a driving signal is introduced into one control line to control the connected light emitters to emit light, and the light irradiation area is as much as that of the whole projection device. The driving signals are introduced into the 2X N control lines at most from the 2X N +1 control lines at the same time, part of light emitters in the projection device are controlled to emit light, the whole scene in the field range can be illuminated, the surface array type rapid imaging is realized, the power consumption of the light emitters which are distributed to the non-emitting light can be increased to the light emitters which emit the light, the emitting power of the light signals is increased, and the energy of the light signals is improved. Therefore, the signal-to-noise ratio of the light emitter can be improved when the ambient light noise is large, the light signal can be projected onto the object when the object distance is far away, and the success rate and the accuracy of the three-dimensional imaging system for correctly detecting the object distance are improved. In addition, at least two light emitters arranged along the second direction belong to the same light emitting bar, and can be connected with the same control line, so that wiring is facilitated, the integration level of the projection device is improved, and the implementation cost of the projection device is reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic plan view of a projection apparatus according to an embodiment of the present application;

FIG. 2 is a schematic plan view of an arrangement of light emitters according to an embodiment of the present application;

FIG. 3 is a schematic plan view of an arrangement of light emitters in another embodiment of the present application;

FIG. 4 is a schematic structural diagram of a three-dimensional imaging system according to an embodiment of the present application;

FIG. 5 is a schematic plan view of a probe apparatus according to an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a processing apparatus according to an embodiment of the present application;

FIG. 7 is a schematic diagram illustrating a connection between a processing unit and a data line according to an embodiment of the present application;

FIG. 8 is a schematic diagram illustrating another connection between a processing unit and a data line according to an embodiment of the present application;

fig. 9 is a flowchart of a three-dimensional imaging method in an embodiment of the present application.

Description of reference numerals: 10-circuit board, 20-light emitting array, 21-light emitting strip, 22-light emitter, 30-control line, 41-diffractive optical element, 42-collimating mirror, 100-projection device, 200-detection device, 210-detection board, 220-optical detector, 230-data line, 300-processing device, 310-processing unit.

Detailed Description

To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are illustrated in the accompanying drawings. This application 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.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

Spatial relational terms, such as "under," "below," "under," "over," and the like may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements or features described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary terms "under" and "under" can encompass both an orientation of above and below. In addition, the device may also include additional orientations (e.g., rotated 90 degrees or other orientations) and the spatial descriptors used herein interpreted accordingly.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.

As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Also, as used in this specification, the term "and/or" includes any and all combinations of the associated listed items.

Electronic or electrical devices and/or any other related devices or components according to embodiments of the present inventive concepts described herein may be implemented using any suitable hardware, firmware (e.g., application specific integrated circuits), software, or combination of software, firmware, and hardware. For example, various components of these devices may be formed on one Integrated Circuit (IC) chip or on separate IC chips. In addition, various components of these devices may be implemented on a flexible printed circuit film, a Tape Carrier Package (TCP), a Printed Circuit Board (PCB), or formed on one substrate. In addition, various components of these devices may be processes or threads that execute on one or more processors in one or more computing devices, thereby executing computer program instructions and interacting with other system components to perform the various functions described herein. Moreover, those skilled in the art will recognize that the functions of the various computing devices may be combined or integrated into a single computing device, or that the functions of a particular computing device may be distributed across one or more other computing devices, without departing from the spirit and scope of the exemplary embodiments of the present concepts.

Although exemplary embodiments of projection devices and three-dimensional imaging systems including projection devices have been described in particular herein, many modifications and variations will be apparent to those skilled in the art. Accordingly, it will be understood that projection devices and three-dimensional imaging systems including projection devices constructed in accordance with the principles of the present application may be implemented other than as specifically described herein. The application is also defined in the claims and their equivalents.

As described in the background art, the area array type three-dimensional imaging system controls all light emitters to emit light simultaneously, illuminates the whole scene in the field of view, and calculates the distance of the target object by receiving the light signal reflected by the target object by the sensor. The whole process is short in time consumption, and rapid imaging can be achieved.

However, the three-dimensional imaging system in the prior art has the problem that the success rate and the accuracy for correctly detecting the object distance are low, and the inventor finds that the problem is caused because electronic products such as a mobile phone where the three-dimensional imaging system is located have strict limitations on power consumption, the emission power of an optical signal cannot be adjusted, and the energy of the optical signal is limited in a small range. When the ambient light noise is large, the signal-to-noise ratio is low, and the three-dimensional imaging system may confuse the ambient light with the light reflected by the target object, and may not detect the object distance correctly. When the object distance is long, the three-dimensional imaging system may not detect the light reflected by the object and may not detect the object distance correctly. In conclusion, the success rate and the accuracy of the three-dimensional imaging system for correctly detecting the object distance are low.

For the foregoing reasons, the present application provides a projection device that divides light emitters in a three-dimensional imaging system into different sets. When a scene in the field of view is illuminated, the light emitters in the same set are controlled to emit light rays simultaneously, and the light emitters in different sets emit light rays at different times. Therefore, all the light emitters cannot emit light rays simultaneously, the power consumption distributed by the light emitters which do not emit the light rays can be increased to the light emitters which emit the light rays, the emission power of light signals is increased, and the energy of the light signals is improved, so that the signal to noise ratio is improved when the ambient light noise is large, the light signals are projected to an object when the object is far away, and the success rate and the precision of the three-dimensional imaging system for correctly detecting the object distance are improved.

Specifically, the light emitters in the three-dimensional imaging system are distributed in an array, and the light emitters in each set may be periodically arranged along the row direction or the column direction of the array. Thus, when the light emitters in the same set emit light simultaneously, the whole scene in the field of view can be illuminated.

Referring to fig. 1, the present embodiment provides a projection device 100 including a driving circuit board 10, 2 × N +1

light emitting arrays

20, and 2 × N +1 control lines 30, where N is a positive integer. 2 × N +1 light emission arrays 20 are disposed on the same surface of the driving circuit board 10. Each light emission array 20 includes at least one light emission stripe 21, and the light emission stripes 21 of the 2 × N +1 light emission arrays 20 are periodically arranged in the first direction. Each light emission strip 21 comprises at least two light emitters 22 arranged in a second direction, which is perpendicular to the first direction. The 2 × N +1 control lines 30 correspond to the 2 × N +1 light emission arrays 20 one by one, and are disposed on the driving circuit board 10. Each control line 30 is connected to each light emitter 22 in the corresponding light emitting array 20 for controlling each light emitter in the corresponding light emitting array 20 to apply a driving signal at the same time and emit light when the driving signal is applied. At most 2 × N control lines 30 of the 2 × N +1 control lines 30 are supplied with the driving signal at the same time.

In the projection device, 2 × N +1 control lines and 2 × N +1 light emission arrays are arranged through the driving circuit board, N is a positive integer, the 2 × N +1 light emission arrays correspond to the 2 × N +1 control lines one by one, each control line is connected with each light emitter in the corresponding light emission array, namely the control lines connected with the light reflectors in the same light emission array are the same, and the control lines connected with the light reflectors in different light reflection arrays are different. If a driving signal is introduced into one control line, all the light emitters connected with the control line can be introduced with the driving signal at the same time and emit light when the driving signal is introduced, so that each control line can control each light emitter in the corresponding light emitting array to emit light at the same time, namely, each light emitter in the same light emitting array emits light at the same time. The time of the driving signal introduced into each control line can be different, so that the light reflectors in different light reflection arrays can emit light at different times. The light emitting arrays comprise at least one light emitting strip, the light emitting strips of 2 × N +1 light emitting arrays are periodically arranged along a first direction, each light emitting strip comprises at least two light emitters, the light emitters of the same light emitting strip are arranged along a second direction perpendicular to the first direction, so that control lines connected with the light emitters arranged along the first direction are periodically changed, the control lines connected with the light emitters arranged along the second direction perpendicular to the first direction are the same, a driving signal is introduced into one control line to control the connected light emitters to emit light, and the light irradiation area is as much as that of the whole projection device. The driving signals are introduced into the 2X N control lines at most from the 2X N +1 control lines at the same time, part of light emitters in the projection device are controlled to emit light, the whole scene in the field range can be illuminated, the surface array type rapid imaging is realized, the power consumption of the light emitters which are distributed to the non-emitting light can be increased to the light emitters which emit the light, the emitting power of the light signals is increased, and the energy of the light signals is improved. Therefore, the signal-to-noise ratio of the light emitter can be improved when the ambient light noise is large, the light signal can be projected onto the object when the object distance is far away, and the success rate and the accuracy of the three-dimensional imaging system for correctly detecting the object distance are improved. In addition, at least two light emitters arranged along the second direction belong to the same light emitting bar, and can be connected with the same control line, so that wiring is facilitated, the integration level of the projection device is improved, and the implementation cost of the projection device is reduced.

In the present embodiment, each light emitter 22 is a separate point light source. At least two light emitters 22 are arranged in the second direction to form a light bar 21, and each light bar 21 is a point power source distributed in a queue. At least one light emitting bar 21 is arranged in a first direction perpendicular to a second direction to form a light emitting array 20, and each light emitting bar 20 is a point light source distributed in an array. The light emitting stripes 21 of the 2 × N +1 light emitting arrays 20 are periodically arranged along the first direction, that is, the light emitting stripes 21 of the respective light emitting arrays 20 are sequentially arranged along the first direction. For example, as shown in fig. 1, the first light emission bar 21 of the first light emission array 20, the first light emission bar 21 of the second light emission array 20, the first light emission bar 21 of the third light emission array 20, the second light emission bar 21 of the first light emission array 20, the second light emission bar 21 of the second light emission array 20, the second light emission bar 21 of the third light emission array 20, the third light emission bar 21 of the first light emission array 20, the third light emission bar 21 of the second light emission array 20, the third light emission bar 21 … … of the third light emission array 20 are arranged in order in the first direction in each light emission bar 21, the first light emitter 22 of the light emission strip 21, the second light emitter 22 of the light emission strip 21, and the third light emitter 22 … … of the light emission strip 21 are arranged in sequence along the second direction.

Illustratively, each optical transmitter 22 is a VCSEL (Vertical Cavity Surface Emitting Laser). A VCSEL is a semiconductor whose laser light exits perpendicular to the top surface. The plurality of VCSELs are arranged on the same plane at intervals and emit light rays to the plane, and the light rays emitted by the VCSELs are parallel to each other and do not affect each other, so that the light emitting strip 21 and the light emitting array 20 are particularly suitable for forming.

In this embodiment, control line 30 is a conductive wire that can provide a driving signal to connected light emitter 22 to control light emitter 22 to emit light.

Illustratively, the control wire 30 is a metal wire, such as a copper wire, an aluminum wire, a silver wire, or an alloy wire. Copper wires, aluminum wires and silver wires have good electrical conductivity and thermal conductivity, and are beneficial to driving the light emitter 22 to emit light. The alloy wire has good flexibility and stability, and is beneficial to prolonging the service life of the projection device.

In the present embodiment, the drive circuit board 10 is a circuit board provided with a drive circuit. The circuit board may carry control lines 30 and light emitters 22, and the driving circuit may send driving signals to light emitters 22 via control lines 30 to control light emitters 22 to emit light.

Illustratively, the driving circuit board 10 is a driving chip, such as a sensor chip or a wireless access controller, and has high integration and convenient use.

In one embodiment, as shown in fig. 1, the light emitters 22 of two adjacent light-emitting bars 21 in the same light-emitting array 20 are alternately arranged along the second direction.

In the present embodiment, at least two light emitters 22 are arranged in the second direction to form one light emitting bar 21, and at least one light emitting bar 21 is arranged in the first direction to form one light emitting array 20. Two adjacent light emission bars 21 in the same light emission array 20 each include a plurality of light emitters 22 arranged along the second direction, and the plurality of light emitters 22 of two adjacent light emission bars 21 are alternately arranged along the second direction, so that all light emitters 22 of the same light emission array 20 are arranged in a staggered manner. The light emitters 22 of the same light emitting array 20 emit light at the same time, and the light emitters 22 of the same light emitting array 20 are arranged in a staggered manner, so that the light emitted by two adjacent light emitters 22 can be prevented from interfering with each other, the layout compactness of the light emitters 22 is facilitated, the number of the light emitters 22 arranged in a unit area is increased, the occupied area of the light emitting array 20 is reduced, and the integration level of the projection device is further improved.

In one embodiment, as shown in fig. 1, the light emitters 22 of two light emission bars 21 adjacent to the same light emission bar 21 in the same light emission array 20 are arranged side by side along the first direction.

In this embodiment, at least two light emitters 22 are arranged along the second direction to form one light emitting bar 21, and at least one light emitting bar 21 is arranged along the first direction to form one light emitting array 20. The light emitters 22 of the two light emission strips 21 adjacent to the same light emission strip 21 in the same light emission array 20 are arranged side by side along the first direction, so that the light emitters 22 of the two adjacent light emission strips 21 in the same light emission array 20 are alternately arranged along the second direction, light rays emitted by the two adjacent light emitters 22 are prevented from interfering with each other, the integration level of the projection device is improved, all the light emitters 22 of the same light emission array 20 are distributed in an array, the compactness of the layout of the light emitters 22 is facilitated, and the integration level of the projection device is further improved.

In one embodiment, as shown in fig. 1, the light emitters 22 of two adjacent light-emitting bars 21 in the 2 × N +1 light-emitting arrays 20 are alternately arranged along the second direction.

In the present embodiment, at least two light emitters 22 are arranged in the second direction to form one light emitting bar 21, and at least one light emitting bar 21 is arranged in the first direction to form one light emitting array 20. The light emitting strips 21 of the 2 × N +1 light emitting arrays 20 are periodically arranged along the first direction, and the light emitters 22 of two adjacent light emitting strips 21 in the 2 × N +1 light emitting arrays 20 are alternately arranged along the second direction, so that the mutual interference of light rays emitted by two adjacent light emitters 22 is prevented, the compactness of the layout of the light emitters 22 is facilitated, the number of the light emitters 22 arranged in a unit area is increased, the occupied area of the light emitting arrays 20 is reduced, and the integration level of the projection device is further improved.

In one embodiment, as shown in fig. 1, the light emitters 22 of two light emission bars 21 adjacent to the same light emission bar 21 in the 2 × N +1 light emission arrays 20 are arranged side by side along the first direction.

In this embodiment, at least two light emitters 22 are arranged along the second direction to form one light emitting bar 21, and at least one light emitting bar 21 is arranged along the first direction to form one light emitting array 20. The light emitting strips 21 of the 2 × N +1 light emitting arrays 20 are periodically arranged along the first direction, and the light emitters 22 of two light emitting strips 21 adjacent to the same light emitting strip 21 in the 2 × N +1 light emitting arrays 20 are arranged side by side along the first direction, so that the light emitters 22 of two adjacent light emitting strips 21 in the 2 × N +1 light emitting arrays 20 are alternately arranged along the second direction, light rays emitted by two adjacent light emitters 22 are prevented from interfering with each other, the integration level of the projection device is improved, all the light emitters 22 are distributed in an array manner, the compact arrangement of the light emitters 22 is facilitated, and the integration level of the projection device is further improved.

In the present embodiment, the number of the light emitting arrays is 2 × N +1, that is, the number of the light emitting arrays is an odd number. The plurality of light emitting bars 21 of the 2 × N +1 light emitting arrays 20 are periodically arranged along the first direction, and the number of the light emitting arrays is odd, so that the light emitters 22 of two adjacent light emitting bars 21 in the same light emitting array 20 are alternately arranged along the second direction, the light emitters 22 of two adjacent light emitting bars 21 in the same light emitting array 20 and the same light emitting bar 21 are arranged side by side along the first direction, the light emitters 22 of two adjacent light emitting bars 21 in the 2 × N +1 light emitting arrays 20 are alternately arranged along the second direction, and the light emitters 22 of two adjacent light emitting bars 21 in the 2 × N +1 light emitting arrays 20 and the same light emitting bar 21 are arranged side by side along the first direction, thereby improving the integration degree of the projection device to the maximum extent.

Exemplarily, as shown in fig. 1, N ═ 1.

In this embodiment, the number of the light emitting arrays is 2 × N +1, and N is 1, so that the number of the light emitting arrays can be reduced to the greatest extent, and further the number of the control lines corresponding to the light emitting arrays one by one is reduced, thereby facilitating wiring and implementation.

In one embodiment, as shown in FIG. 2, the number of light emitter bars 21 in the same light emitting array 20 is greater than the number of light emitters 22 in the same light emitting bar 21.

For example, as shown in fig. 2, the number of light-emitting bars 21 in each light-emitting array 20 is 6, and the number of light emitters 22 in each light-emitting bar 21 is 4, i.e., the number of light-emitting bars 21 in the same light-emitting array 20 is greater than the number of light emitters 22 in the same light-emitting bar 21.

In this embodiment, at least two light emitters 22 are arranged along the second direction to form a light emitting bar 21, at least one light emitting bar 21 is arranged along the first direction to form a light emitting array 20, and all light emitters 22 are distributed in an array. The number of light emitting bars 21 in the same light emitting array 20 is greater than the number of light emitters 22 in the same light emitting bar 21, and the number of light emitters 22 arranged in the first direction is greater than the number of light emitters 22 arranged in the second direction, which is particularly suitable for detecting a target object placed transversely.

In another embodiment, as shown in FIG. 3, the number of light emitter bars 21 in the same light emitting array 20 is less than the number of light emitters 22 in the same light emitter bar 21.

For example, as shown in fig. 3, the number of light-emitting bars 21 in each light-emitting array 20 is 4, and the number of light emitters 22 in each light-emitting bar 21 is 5, i.e., the number of light-emitting bars 21 in the same light-emitting array 20 is smaller than the number of light emitters 22 in the same light-emitting bar 21.

In this embodiment, at least two light emitters 22 are arranged along the second direction to form a light emitting bar 21, at least one light emitting bar 21 is arranged along the first direction to form a light emitting array 20, and all light emitters 22 are distributed in an array. The number of light emitting bars 21 in the same light emitting array 20 is smaller than the number of light emitters 22 in the same light emitting bar 21, and the number of light emitters 22 arranged along the first direction is smaller than the number of light emitters 22 arranged along the second direction, which is particularly suitable for detecting a target object placed vertically.

In one embodiment, the distance between two adjacent light emitting bars 21 is constant.

In this embodiment, the distance between two adjacent light-emitting strips 21 is a fixed value, that is, the distance between two adjacent light-emitting strips 21 is equal, so that the distance between two adjacent light-emitting strips 21 can be conveniently determined, the mutual influence caused by the smaller distance between two adjacent light-emitting strips 21 can be avoided, the space waste caused by the larger distance between two adjacent light-emitting strips 21 can also be avoided, and the realization of the projection device is facilitated.

In one embodiment, the distance between two adjacent light emitters 22 in the same light-emitting bar 21 is constant.

In this embodiment, the distance between two adjacent light emitters 22 in the same light-emitting bar 21 is a fixed value, that is, the distance between two adjacent light emitters 22 in the same light-emitting bar 21 is equal, which can facilitate determining the distance between two adjacent light emitters 22 in the same light-emitting bar 21, thereby not only avoiding the mutual influence caused by the small distance between two adjacent light emitters 22 in the same light-emitting bar 21, but also avoiding the space waste caused by the large distance between two adjacent light emitters 22 in the same light-emitting bar 21, and facilitating the implementation of the projection apparatus.

In one embodiment, the number of light emission stripes 21 in each light emission array 20 is more than six.

In the present embodiment, the number of light emission stripes 21 in each light emission array 20 is more than six, which is beneficial for illuminating the whole scene in the field of view when the light emitters 22 in a single light emission array 20 emit light.

In one embodiment, the number of light emitters 22 in each light bar 21 is more than eight.

In the present embodiment, the number of light emitters 22 in each light emitting bar 21 is more than eight, which is beneficial for illuminating the whole scene in the field of view when the light emitters 22 in a single light emitting array 20 emit light.

In one embodiment, the timing of the driving signal applied to the 2 × N +1 control lines 30 is different.

In this embodiment, the time that 2 × N +1 control lines 30 let in drive signal is different, can utilize the consumption of the light emitter that distributes to not transmitted light to the at utmost, increase the function of the light emitter of transmitted light, increase the transmitting power of light signal, improve the energy of light signal, effectively improve the SNR when environment light noise is great, guarantee to project light signal to the object when object distance is far away, the success rate and the precision of the three-dimensional imaging system correct detection object distance are improved to the utmost.

In another embodiment, at least two of the 2 × N +1 control lines 30 are supplied with the driving signal at the same time.

In this embodiment, the time when at least two control lines of the 2 × N +1 control lines 30 are supplied with the driving signals is the same, so that the time for the whole projection device to emit light can be reduced, and the fast imaging in a planar array manner can be conveniently realized.

In an embodiment, as shown in fig. 2 and 3, the projection device further comprises a diffractive optical element 41. The diffractive optical element 41 is disposed on a propagation path of the light emitted from the 2 × N +1 light emission arrays 20, and divides each light emitted from the 2 × N +1 light emission arrays 20 into a plurality of lights distributed in an array.

Among them, the DOE (Diffractive Optical Elements) 41 is a series of movable lenses, mainly used to generate the required light source. In this embodiment, a DOE is used to separate a single light beam into a plurality of light beams.

For example, as shown in fig. 2, the diffractive optical element 41 divides each light ray emitted by 3 light emitting arrays 20 into 9 light rays distributed in an array, which corresponds to duplicating 3 light emitting arrays 20 into a 3 × 3 array. Since the number of light emitter stripes 21 in the same light emission array 20 is larger than the number of light emitters 22 in the same light emission stripe 21, the length of the 3 x 3 array in the first direction is larger than the length in the second direction.

As another example, as shown in fig. 3, the diffractive optical element 41 divides each light beam emitted by 3 light emitting arrays 20 into 9 light beams distributed in an array, which is equivalent to duplicating 3 light emitting arrays 20 into a 3 × 3 array. Since the number of light emitter stripes 21 in the same light emission array 20 is smaller than the number of light emitters 22 in the same light emission stripe 21, the length of the 3 x 3 array in the first direction is smaller than the length in the second direction.

In the present embodiment, the diffractive optical element 41 is disposed on the propagation path of the light emitted from the 2 × N +1 light emitting arrays 20, and the diffractive optical element 41 divides each light emitted from the 2 × N +1 light emitting arrays 20 into a plurality of lights distributed in an array, which is equivalent to duplicating the array formed by all the light reflectors 22, and increases the area of the light projected by the entire apparatus, so as to reduce the number of the light reflectors 22, improve the integration of the apparatus, and reduce the implementation cost of the apparatus in the case of illuminating the entire scene in the field of view.

Optionally, as shown in fig. 2 and 3, the projection device further includes a collimator lens 42. The collimating mirror 42 is disposed on the propagation path of the light emitted from the 2 × N +1 light emitting arrays 20, and between the 2 × N +1 light emitting arrays 20 and the diffractive optical element 41, and is configured to collimate the respective light emitted from the 2 × N +1 light emitting arrays 20 into parallel light.

Wherein a collimating mirror is used in the beam delivery system to maintain the collimation of the beam. Collimation is generally said to maintain parallelism between rays, i.e., to convert divergent light into parallel light.

In this embodiment, the light beam first passes through the collimating mirror 42, so that the divergent light becomes parallel light. The parallel light passes through the diffractive optical element 41, and the diffractive optical element 41 is aligned with the straight light to be copied and split into different angles, for example, one light beam is copied into a plurality of light beams facing different angles.

Based on the same inventive concept, the embodiment of the present application further provides a three-dimensional imaging system, as shown in fig. 4, the three-dimensional imaging system includes the projection apparatus 100 in the above embodiment, the three-dimensional imaging system further includes a detection apparatus 200 and a processing apparatus 300. The projection device 100 is used to emit light toward the target object 400. The detection device 200 is disposed in an area having a distance less than a threshold value from a propagation path of the light emitted from the projection device 100, and detects the light reflected by the target object. The processing device 300 is connected to the projection device 100 and the detection device 200, respectively, for performing three-dimensional imaging according to the propagation time of the light.

In this embodiment, the 2 × N +1 light emitting arrays 10 in the projection device 100 may emit light to the target object one by one in any order, or at least two light emitting arrays 10 may emit light to the target object simultaneously, and at least one light emitting array 10 does not emit light to the target object. The detection device 200 may determine the detection area corresponding to each light emitting array 10 in the projection device 100, and then when each light emitting array 10 emits light to the target object, turn on the corresponding area for detection, and turn off the non-corresponding area. The processing device 300 controls the projection device 100 and the detection device 200 and performs three-dimensional imaging according to the propagation time of the light.

In one embodiment, as shown in FIG. 5, the detecting device 200 includes a carrier plate 210, a plurality of optical detectors 220, and a plurality of data lines 230. A plurality of optical probes 220 are disposed on the same surface of the carrier plate 210. Each optical detector 220 corresponds to one of the light emitters 22, and is configured to detect light emitted toward and reflected by the target object by the corresponding light emitter 22, and generate a detection signal when detecting the light. The number of optical detectors 220 is greater than or equal to the number of light emitters 22 in projection device 100, with each light emitter 22 corresponding to at least one optical detector 220. The plurality of data lines are in one-to-one correspondence with the plurality of optical detectors and are disposed on the carrier plate 210. Each data line 230 is connected to the corresponding optical detector 220 and the processing device 300, respectively, for transmitting the detection signal generated by the corresponding optical detector 220 to the processing device 300.

In this embodiment, by disposing a plurality of optical detectors on the same surface of the carrier plate, the number of optical detectors is greater than or equal to the number of light emitting arrays, and each light emitter may correspond to at least one optical detector. Each optical detector corresponds to one light emitter, can detect the light which is emitted to the target object by the corresponding light emitter and reflected by the target object, and generates a detection signal when detecting the light, so that the light emitted to the target object by all the light emitters is detected by the corresponding optical detectors. Through set up many data lines on the loading board, many data lines and a plurality of optical detector one-to-one, every data line is connected with corresponding optical detector and processing apparatus respectively, can transmit the detection signal that the optical detector that corresponds produced to processing apparatus, and processing apparatus combines the detection signal of each optical detector transmission and the condition that this optical detector corresponds the light emitter and launches light, carries out three-dimensional imaging.

Illustratively, each optical detector 220 is a SPAD (Single Photon Avalanche Diode).

The SPAD is a photoelectric detection avalanche diode with single photon detection capability. A single SPAD sensor operates in a set mode, just like a photon-triggered switch, in either an "on" or "off" state.

In this embodiment, the optical detector adopts SPAD, and can better realize generating detection signal when detecting light.

In one embodiment, the plurality of optical detectors 220 are distributed in an array on the carrier plate 210.

The plurality of optical detectors 220 are distributed in an array on the carrier plate 210, so that the arrangement of the optical detectors 220 can be facilitated, the problem that the distance between two adjacent optical detectors 220 is short and waste is caused can be avoided, and the problem that the distance between two adjacent optical detectors 220 is long and detection omission is caused can also be avoided.

In an embodiment, as shown in fig. 6, the processing device 300 includes a plurality of processing units 310, each data line 230 is connected to one processing unit 310, each processing unit 310 is connected to at least two data lines 230, the optical detector 220 corresponding to the data line 230 connected to the same processing unit 310 is adjacent to the data line, and each processing unit 310 is configured to superimpose the detection signals introduced by the connected data lines 230 at the same time.

In this embodiment, each processing unit 310 is connected to at least two data lines 230, the optical detectors 220 corresponding to the data lines 230 connected to the same processing unit 310 are adjacent to each other, and a plurality of optical detectors 220 with a short distance can be collected into one processing unit 310 for processing, so that the optical detectors 220 can be densely arranged, detection blind areas can be avoided, the number of the processing units 310 can be reduced, and the implementation cost can be reduced. Each processing unit 310 is configured to superimpose the detection signals fed from the connected data lines 230 at the same time, so as to integrate the detection results of the optical detectors 220 and improve the accuracy of the processing results.

In one embodiment, as shown in fig. 7, the optical detectors 220 corresponding to the data lines 230 connected to the processing unit 310 are arranged along the row direction.

Illustratively, the row direction is a lateral direction parallel to the horizontal plane.

In this embodiment, the optical detectors 220 corresponding to the data lines 230 connected to the same processing unit 310 are arranged along the row direction, and the detection results of the optical detectors 220 in the same row can be collected and are suitable for the target object placed transversely.

In another embodiment, as shown in FIG. 6, the optical detectors 220 corresponding to the data lines 230 connected to the same processing unit 310 are arranged along the column direction.

Illustratively, the column direction is a vertical direction perpendicular to the horizontal plane.

In this embodiment, the optical detectors 220 corresponding to the data lines 230 connected to the same processing unit 310 are arranged in the column direction, and the detection results of the optical detectors 220 in the same column can be collected, so that the method is suitable for a vertically-placed target object.

In yet another embodiment, as shown in FIG. 8, the optical detectors 220 corresponding to the data lines 230 connected to the processing unit 310 are distributed in an array.

In this embodiment, the optical detectors 220 corresponding to the data lines 230 connected to the same processing unit 310 are distributed in an array, and the detection results of the optical detectors 220 in the same area can be collected to be more suitable for a square target object.

Based on the same inventive concept, the embodiment of the present application further provides an electronic product (not shown), which includes the three-dimensional imaging system in the above embodiment.

It is understood that the electronic product in the embodiment of the present application may be any product or component having a three-dimensional imaging function, such as a laser radar system, a mobile phone, a tablet computer, a notebook computer, a shooting device, a robot, and the embodiments disclosed in the present application are not limited thereto.

Based on the same inventive concept, an embodiment of the present application further provides a three-dimensional imaging method, as shown in fig. 9, the three-dimensional imaging method includes:

step S501, at most 2X N control lines in 2X N +1 control lines are fed with driving signals at the same time, light emitters connected with at most 2X N control lines are driven to emit light to a target object, and N is a positive integer.

The driving circuit board is provided with 2X N +1 control lines, and one surface of the driving circuit board is provided with 2X N +1 light emitting arrays which correspond to the 2X N +1 control lines one by one. Each light emitting array includes at least one light emitting bar, and the light emitting bars of the 2 × N +1 light emitting arrays are periodically arranged along the first direction. Each light emitting bar comprises at least two light emitters arranged along a second direction, the second direction being perpendicular to the first direction. Each light emitter is connected to a corresponding control line of the light emitting array.

Step S502, the light reflected by the target object is detected.

In step S503, three-dimensional imaging is performed according to the propagation time of the light.

According to the three-dimensional imaging method, the driving signals are introduced into at most 2X N control lines in the 2X N +1 control lines at the same time, part of light emitters in the projection device are controlled to emit light, the whole scene in the field of view can be illuminated, the area array type rapid imaging is achieved, the power consumption of the light emitters which are distributed to the non-light-emitting light can be added to the light emitters which emit the light, the emitting power of the light signals is increased, and the energy of the light signals is improved. Therefore, the signal-to-noise ratio of the light emitter can be improved when the ambient light noise is large, the light signal can be projected onto the object when the object distance is far away, and the success rate and the accuracy of the three-dimensional imaging system for correctly detecting the object distance are improved.

In one embodiment, detecting light reflected by a target object comprises: determining optical detectors corresponding to the light emitters connected with at most N control lines in the plurality of optical detectors; and turning on certain optical detectors to detect light reflected by the target object and generate detection signals when the light is detected, and turning off optical detectors other than the certain optical detectors in the plurality of optical detectors.

Wherein each optical detector corresponds to one optical emitter, the number of optical detectors is greater than the number of optical emitters, and each optical emitter corresponds to at least one optical detector.

In this embodiment, the optical detectors corresponding to the light emitters connected to at most N control lines in the plurality of optical detectors are determined, only the determined optical detectors are turned on to detect the light reflected by the target object and generate detection signals when detecting the light, and the optical detectors other than the determined optical detectors in the plurality of optical detectors are turned off, so that unnecessary detection can be effectively avoided, the amount of processing is reduced, resources are saved, and the service life of the system is prolonged.

Optionally, determining optical detectors of the plurality of optical detectors corresponding to light emitters connected to at most N control lines comprises: driving signals are introduced to different control lines at different moments, and the driving light emitter emits light to the target object when the connected control lines are introduced with the driving signals; simultaneously starting a plurality of optical detectors to detect the light reflected by the target object and generating a detection signal when detecting the light; the light emitter is associated with an optical detector that detects the light emitted by the light emitter.

In this embodiment, drive signals are introduced to different control lines at different moments, the drive light emitter emits light to the target object when the connected control lines are introduced with the drive signals, and the plurality of optical detectors are simultaneously turned on to detect the light reflected by the target object and generate detection signals when detecting the light, so that the light emitter is enabled to correspond to the optical detector which detects the light emitted by the light emitter.

In one embodiment, three-dimensional imaging is performed according to the travel time of light, comprising: forming a histogram by taking the time as an abscissa and the intensity of the detection signal as an ordinate; taking the time when the intensity of the detection signal in the histogram is maximum as the receiving time of the light; and determining the distance of the target object according to the receiving time and the emitting time of the light rays to perform three-dimensional imaging.

In this embodiment, a histogram is formed by using time as an abscissa and intensity of a detection signal as an ordinate, and a detection result of the detection sensor at each time can be recorded by using the histogram, so that time with the maximum intensity of the detection signal can be found in the histogram to be used as the receiving time of light, and further, the distance of a target object can be determined according to the receiving time and the emitting time of the light to perform three-dimensional imaging.

Optionally, forming a histogram with time as an abscissa and intensity of the detection signal as an ordinate includes: superposing detection signals generated by at least two adjacent optical detectors at the same time; and forming a histogram by taking the time as an abscissa and the intensity of the superposed detection signal as an ordinate.

In the embodiment, the detection signals generated by at least two adjacent optical detectors at the same time are superposed, and the time is used as the abscissa and the intensity of the superposed detection signals is used as the ordinate to form the histogram, so that the time with the maximum intensity of the detection signals can be conveniently found in the histogram, the detection results of the plurality of optical detectors can be integrated, the receiving time determination error of light caused by the detection error of a single optical detector is avoided, and the accuracy of the processing result is effectively improved.

In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A projection device, characterized in that the projection device comprises:

a drive circuit board (10);

2 x N +1 light emission arrays (20) arranged on the same surface of the driving circuit board (10), N being a positive integer; each light emitting array (20) comprises at least one light emitting strip (21), and the light emitting strips (21) of the 2 × N +1 light emitting arrays (20) are periodically arranged along a first direction; each of the light emission strips (21) comprises at least two light emitters (22) arranged along a second direction, the second direction being perpendicular to the first direction;

2N +1 control lines (30) corresponding to the 2N +1 light emission arrays (20) one by one are arranged on the driving circuit board (10); each control line (30) is connected with each light emitter (22) in the corresponding light emitting array (20) and is used for controlling each light emitter (22) in the corresponding light emitting array (20) to be supplied with a driving signal at the same time and emitting light when the driving signal is supplied; at most 2 × N of the 2 × N +1 control lines (30) are supplied with the drive signal at the same time.

2. Projection device according to claim 1, characterized in that the light emitters (22) of two adjacent light emission strips (21) in the same light emission array (20) are arranged alternately in the second direction.

3. Projection device according to claim 2, wherein the light emitters (22) of two light emission strips (21) of one and the same light emission array (20) adjacent to one and the same light emission strip (21) are arranged side by side along the first direction.

4. The projection device according to any of the claims 1 to 3, wherein the light emitters (22) of two adjacent light emission bars (21) in the 2 x N +1 light emission arrays (20) are arranged alternately in the second direction.

5. The projection device according to claim 4, wherein the light emitters (22) of two light emission bars (21) of the 2 x N +1 light emission arrays (20) adjacent to the same light emission bar (21) are arranged side by side along the first direction.

6. The projection device of any of claims 1 to 3, wherein N-1.

7. Projection device according to any one of claims 1 to 3, characterized in that the distance between two adjacent light emission strips (21) is constant.

8. Projection device according to any one of claims 1 to 3, characterized in that the distance between two adjacent light emitters (22) in the same light emission bar (21) is constant.

9. A projection device as claimed in any one of claims 1 to 3, characterized in that the number of light emission stripes (21) in each light emission array (20) is more than six.

10. A projection device as claimed in any one of claims 1 to 3, characterized in that the number of light emitters (22) in each light emission strip (21) is more than eight.

11. The projection device according to any of claims 1 to 3, wherein each of the light emitters (22) is a vertical cavity surface emitting laser.

12. The projection device according to any of the claims 1 to 3, wherein the 2 x N +1 control lines (30) are switched in with different timings of the driving signal; or the time when at least two control lines (30) in the 2 x N +1 control lines (30) are supplied with driving signals is the same.

13. The projection device of any of claims 1 to 3, further comprising:

and the diffraction optical element (41) is arranged on the propagation path of the light emitted by the 2 x N +1 light emitting arrays (20) and is used for dividing each light emitted by the 2 x N +1 light emitting arrays (20) into a plurality of lights distributed in an array.

14. The projection device of claim 13, further comprising:

and the collimating mirror (42) is arranged on the propagation path of the light emitted by the 2 x N +1 light emitting arrays (20), is positioned between the 2 x N +1 light emitting arrays (20) and the diffractive optical element (41), and is used for adjusting each light emitted by the 2 x N +1 light emitting arrays (20) into parallel light.

15. A three-dimensional imaging system, characterized in that the three-dimensional imaging system comprises:

the projection device (100) according to any of claims 1 to 14, for emitting light towards a target object;

a detection device (200) arranged in an area having a distance less than a threshold value from a propagation path of the light emitted by the projection device (100) for detecting the light reflected by the target object;

and the processing device (300) is respectively connected with the projection device (100) and the detection device (200) and is used for carrying out three-dimensional imaging according to the propagation time of the light.

16. The three-dimensional imaging system according to claim 15, wherein the detection device (200) comprises:

a carrier plate (210);

a plurality of optical probes (220) disposed on the same surface of the carrier plate (210); each optical detector (220) is corresponding to one light emitter (22) and is used for detecting the light emitted to the target object by the corresponding light emitter (22) and reflected by the target object, and generating a detection signal when the light is detected; the number of the optical detectors (220) is greater than or equal to the number of the light emitters (22) in the projection device (100), and each light emitter (22) corresponds to at least one optical detector (220);

a plurality of data lines (230) corresponding to the plurality of optical detectors (220) one to one, and disposed on the carrier plate (210); each data line (230) is respectively connected with the corresponding optical detector (220) and the processing device (300) and is used for transmitting the detection signal generated by the corresponding optical detector (220) to the processing device (300).

17. The three-dimensional imaging system of claim 16, wherein each of the optical detectors (220) is a single photon avalanche diode.

18. The three-dimensional imaging system according to claim 16 or 17, characterized in that the plurality of optical detectors (220) are distributed in an array on the carrier plate (210).

19. The three-dimensional imaging system according to claim 18, wherein the processing device (300) comprises a plurality of processing units (310), each data line (230) is connected with one processing unit (310), each processing unit (310) is connected with at least two data lines (230), the optical detectors (220) corresponding to the data lines (230) connected with the processing unit (310) are adjacent to each other, and each processing unit (310) is used for overlapping the detection signals introduced by the connected data lines (230) at the same time.

20. The three-dimensional imaging system of claim 19, wherein the optical detectors (220) corresponding to the data lines (230) connected to the processing unit (310) are arranged in a row direction; or the optical detectors (220) corresponding to the data lines (230) connected with the processing unit (310) are arranged along the column direction; or, the optical detectors (220) corresponding to the data lines (230) connected with the processing unit (310) are distributed in an array.

21. An electronic product, characterized in that it comprises a three-dimensional imaging system according to any of claims 15 to 20.

22. A three-dimensional imaging method, characterized in that it comprises:

detecting light reflected by the target object;

23. The three-dimensional imaging method according to claim 22, wherein said detecting light reflected by the target object comprises:

24. The three-dimensional imaging method according to claim 23, wherein said determining optical detectors of the plurality of optical detectors corresponding to the light emitters connected to the at most N control lines comprises:

driving signals are introduced to different control lines at different moments, and the driving light emitter emits light to the target object when the connected control lines are introduced with the driving signals;

simultaneously turning on the plurality of optical detectors to detect the light reflected by the target object and generating a detection signal when detecting the light;

and corresponding the light emitter to an optical detector for detecting the light emitted by the light emitter.

25. The three-dimensional imaging method according to claim 23 or 24, wherein the three-dimensional imaging according to the propagation time of the light ray comprises:

forming a histogram by taking time as an abscissa and intensity of the detection signal as an ordinate;

taking the time of the maximum intensity of the detection signal in the histogram as the receiving time of the light;

and determining the distance of the target object according to the receiving time and the emitting time of the light rays to perform three-dimensional imaging.

26. The three-dimensional imaging method according to claim 25, wherein the forming a histogram with time as abscissa and intensity of the detection signal as ordinate comprises:

superposing detection signals generated by at least two adjacent optical detectors at the same time;

and forming a histogram by taking the time as an abscissa and the intensity of the superposed detection signal as an ordinate.