CN112965073A - Partition projection device and light source unit and application thereof - Google Patents

Partition projection device and light source unit and application thereof Download PDF

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Publication number
CN112965073A
CN112965073A CN202110160431.4A CN202110160431A CN112965073A CN 112965073 A CN112965073 A CN 112965073A CN 202110160431 A CN202110160431 A CN 202110160431A CN 112965073 A CN112965073 A CN 112965073A
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light
light source
source unit
area
zone
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孟玉凰
黄河
楼歆晔
郑旭君
林涛
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Shanghai Kunyou Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
    • G02B27/0927—Systems for changing the beam intensity distribution, e.g. Gaussian to top-hat
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
    • G02B27/0938—Using specific optical elements
    • G02B27/0944—Diffractive optical elements, e.g. gratings, holograms
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
    • G02B27/0938—Using specific optical elements
    • G02B27/095—Refractive optical elements
    • G02B27/0955—Lenses
    • G02B27/0961—Lens arrays

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Projection Apparatus (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

Subregion projection unit and light source unit and application thereof, wherein subregion projection unit includes light source unit and the light modulation component that a plurality of subregion were arranged, and wherein light modulation component corresponds with light source unit, and wherein light modulation component is used for modulating the light that the light source unit of different subregion sent, forms specific light field distribution, for the receiving arrangement receives the reverberation, and wherein light modulation component has the light modulation face that a plurality of subregion were arranged, and wherein light modulation face corresponds with light source unit, and the light that the light source unit of each subregion sent is after the light modulation face modulation that corresponds, illuminates corresponding region uniformly. Compared with the traditional detection equipment, the detection equipment applying the subarea projection device can realize long-distance detection under lower power consumption.

Description

Partition projection device and light source unit and application thereof
Technical Field
The invention relates to the field of TOF detection, and further relates to a partitioned projection device, a light source unit and application thereof.
Background
Tof (time of flight), a time-of-flight based technology, has been widely paid attention to and applied in industries such as smart phones, etc., depending on advantages of small size, low error, direct output of depth data, and strong interference immunity.
TOF is currently divided into two categories, one being direct ranging dTOF, which determines the detection distance by emitting, receiving light and measuring photon flight time; the other is the more mature indirect ranging iTOF on the market, which determines the detection range by measuring the phase difference between the transmitted and received waveforms and scaling the time of flight. Compared to iTOF, dTOF can determine the detection distance directly by measuring the photon flight time, where the calculation formula of the detection distance D and the photon flight time T is: d is T/2 x light speed c, conversion is not needed, calculation force is saved, and the response speed is high.
The dTOF-based detection equipment performs high-frequency modulation on light through a projection device and then emits the light, the pulse repetition frequency is high, the pulse width can reach ns-ps magnitude, high single pulse energy can be obtained in a very short time, the signal to noise ratio can be increased while the low power consumption of a power supply is kept, a long detection distance can be realized, the influence of ambient light on the distance measurement precision is reduced, and the requirements on the sensitivity and the signal to noise ratio of the detection equipment are lowered. In addition, dTOF has the characteristics of high frequency and narrow pulse width, so that the average energy is very small, and the safety of human eyes can be ensured when the dTOF is used.
In the application of three-dimensional sensing technology, a conventional projection device projects an illumination light to a target scene within a certain field angle by using a laser transmitter (VCSEL), and a receiving device receives the reflected light, so as to obtain depth information. However, the conventional detection device has many problems in practical application, for example, when detection is realized, the power consumption of the projection device is high, which limits the development of the dTOF-based detection device in practical application.
Disclosure of Invention
An advantage of the present invention is to provide a partitioned projection device and a light source unit and application thereof, which are suitable for a dTOF-based detection apparatus to achieve distance detection, and the detection apparatus using the partitioned projection device of the present invention can achieve detection at a longer distance with lower power consumption than conventional detection apparatuses.
Another advantage of the present invention is to provide a partitioned projection device, a light source unit thereof and an application thereof, wherein the partitioned projection device has light source units arranged in preset partitions, and the light source units of different partitions illuminate corresponding areas, thereby implementing partitioned detection of a target scene.
Another advantage of the present invention is to provide a partitioned projection apparatus, a light source unit thereof and an application thereof, wherein light emitted from the light source unit of a corresponding partition is modulated and then homogenized within a predetermined range, which is beneficial to forming a uniform light field and improving detection quality.
Another advantage of the present invention is to provide a partitioned projection device, a light source unit thereof and an application thereof, wherein the light source units of different partitions can be turned on at preset times, and corresponding areas can be lighted at different times. Further, the light source units of different partitions can periodically light corresponding areas, and the whole target scene is completely illuminated in one period.
Another advantage of the present invention is to provide a partitioned projection device, a light source unit thereof, and an application thereof, wherein the detection device using the partitioned projection device can be used to obtain depth information, and is suitable for a depth camera, an intelligent robot (such as a sweeping robot), a three-dimensional electronic device, or a smart phone. The detection equipment applying the partition projection device can meet the requirements for environment perception and modeling, motion capture and recognition and the like, and is suitable for terminal equipment such as smart phones and VR/AR. The detection equipment using the partition projection device can meet the requirements of gesture sensing or proximity detection of various innovative user interfaces, and has wide application prospects in the fields of computers, household appliances, industrial automation, service robots, unmanned aerial vehicles, Internet of things and the like.
Another advantage of the present invention is to provide a partitioned projection device, a light source unit and an application thereof, which have low power consumption and low cost.
According to an aspect of the present invention, the present invention further provides a partition projection device, suitable for a dTOF-based detection apparatus, wherein the detection apparatus comprises a receiving device, wherein the partition projection device is configured to emit light to a target scene, and the receiving device receives reflected light, wherein the partition projection device comprises:
a plurality of zoned light source units, wherein the light source units of different zones are to emit light to illuminate corresponding different areas in a target scene; and
and the light modulation element is used for modulating the light emitted by the light source units of different partitions to form a specific light field distribution so as to enable the receiving device to receive the reflected light.
In an embodiment, the plurality of zoned light source units comprises a first area light source unit and a second area light source unit arranged zoned, wherein the first area light source unit is configured to emit light to illuminate a first area in the target scene, and wherein the second area light source unit is configured to emit light to illuminate a second area of the target scene.
In an embodiment, the light source unit in which the plurality of zonal arrangements comprises a first area light source unit and a second area light source unit in the zonal arrangement, wherein the first area light source unit is configured to emit light to illuminate a second area in the target scene, wherein the second area light source unit is configured to emit light to illuminate the first area of the target scene.
In one embodiment, the area of the partition of the first area light source unit is equal to the area of the partition of the second area light source unit.
In one embodiment, the area of the partitions of the light source unit arranged in a plurality of partitions is not uniform.
In one embodiment, the number and arrangement of the partitions of the light source unit arranged in a plurality of partitions are selected from: 2 x 2, 4 x 4, 2 x 6 and 1 x 12.
In an embodiment, the light modulation element has a plurality of light modulation surfaces arranged in a divisional manner, wherein the light modulation surfaces correspond to the light source units, and light emitted by the light source units of the respective divisional areas is modulated by the corresponding light modulation surfaces and illuminates corresponding areas.
In one embodiment, the light modulation surface and the light source unit correspond to each other in a manner selected from: one or more combinations of one-to-one, one-to-many, and many-to-many.
In an embodiment, the light modulation element has a first light modulation surface and a second light modulation surface arranged in a partitioned manner, wherein the first light modulation surface corresponds to the first area light source unit, wherein the first light modulation surface is configured to modulate light emitted from the first area light source unit, wherein the light modulated by the first light modulation surface is emitted toward a first angle to illuminate a first area, wherein the second light modulation surface corresponds to the second area light source unit, wherein the second light modulation surface is configured to modulate light emitted from the second area light source unit, and wherein the light modulated by the second light modulation surface is emitted toward a second angle to illuminate a second area.
In an embodiment, the light modulation element has a first light modulation surface and a second light modulation surface arranged in a partitioned manner, wherein the first light modulation surface corresponds to the first area light source unit, wherein the first light modulation surface is configured to modulate light emitted from the first area light source unit, wherein the light modulated by the first light modulation surface is emitted toward an angle corresponding to the second area for illuminating the second area, wherein the second light modulation surface corresponds to the second area light source unit, wherein the second light modulation surface is configured to modulate light emitted from the second area light source unit, and wherein the light modulated by the second light modulation surface is emitted toward an angle corresponding to the first area for illuminating the first area.
In one embodiment, the light modulation element has a light modulation surface, wherein the light modulation surface corresponds to the first area light source unit and the second area light source unit.
In one embodiment, the light modulation element is a DOE light homogenizer.
In an embodiment, the light modulation element is a light uniformizing element having a microlens array structure, so that light emitted by the light source unit is modulated by the microlens array, and a predetermined light field is formed at the receiving unit.
In one embodiment, the microlens array is composed of a group of randomly arranged microlens units, wherein partial parameters of the microlens units of the light modulation surface of each partition are different from each other so as to prevent interference fringes from being generated when light propagates in space.
In one embodiment, the surface profile z of each of the microlens units is represented as:
Figure BDA0002935248890000041
wherein the content of the first and second substances,
Figure BDA0002935248890000042
a base aspheric term, wherein c is a curvature of the microlens unit, and k is a conic constant, wherein
Figure BDA0002935248890000043
For expanding polynomials, where N is the number of polynomials, AiFor coefficients of the ith expansion polynomial, polynomial Ei(x, y) is a power series of x and y, where the first term is x, the second term is y, and then x, x y, y.
In one embodiment, the microlens unit is provided with an asymmetric surface shape by an odd term of the expansion polynomial to realize optical axis deflection.
In an embodiment, the partition projection apparatus further includes a light source unit control circuit, wherein the light source unit control circuit is electrically connected to the light source units of the partitions, and the light source unit control circuit is configured to turn on the light source units of different partitions at preset times, so that the light source units of the partitions illuminate corresponding areas at different times.
In one embodiment, the light source units of different partitions are periodically turned on, and in one period, the light source units of the partitions correspondingly illuminate areas of the whole target scene respectively.
According to another aspect of the present invention, there is further provided a projection method, comprising:
emitting light by a plurality of zoned light source units; and
and modulating the light emitted by the light source units of different subareas, wherein the modulated light illuminates a corresponding area in a target scene so as to be received by a receiving device of the dTOF-based detection equipment.
In an embodiment, in the projection method, the light source units in the plurality of divisional arrangements include a first area light source unit and a second area light source unit in the divisional arrangements, wherein the first area light source unit is configured to emit light to illuminate a first area in the target scene, and wherein the second area light source unit is configured to emit light to illuminate a second area of the target scene.
In an embodiment, in the projection method, the light emitted by the first area light source unit is modulated by a first light modulation surface and emitted toward a first angle to illuminate the first area, and the light emitted by the second area light source unit is modulated by a second light modulation surface and emitted toward a second angle to illuminate the second area.
In an embodiment, in the projection method, light emitted from the light source units of a plurality of different divisions is modulated via the same light modulation surface of a light modulation element.
In one embodiment, in the projection method, the light emitted by the light source unit is modulated by a DOE dodging sheet.
In one embodiment, in the projection method, the light emitted from the light source unit is modulated by a light homogenizing element having a microlens array structure, wherein the microlens array is composed of a group of randomly regularly arranged microlens units, and partial parameters of each microlens unit are different from each other so as to prevent interference fringes from being generated when the light propagates in space.
In an embodiment, in the projection method, the design method of the microlens array includes:
a. dividing areas where the micro lens units are located on the surface of a substrate, wherein the cross-sectional shapes or the sizes of the areas where the micro lens units are located are different;
b. establishing a global coordinate system (X, Y, Z) for the entire microlens array, establishing a local coordinate system (xi, yi, zi) for each individual microlens cell, and having a center coordinate of (X0, Y0, Z0); and
c. for each microlens unit, the surface profile along the Z-axis direction is expressed by a curved function f:
Figure BDA0002935248890000051
wherein r is2＝(xi-x0)2+(yi-y0)2C is the curvature of the microlens unit, k is a conic constant, Ai is the coefficient of the ith expansion polynomial, ZOffsetIs the offset in the Z-axis direction corresponding to each microlens unit.
In an embodiment, in the projection method, the design method of the microlens array includes:
a1, dividing the area where each microlens unit is located on the surface of a substrate, wherein the cross-sectional shape or size of the area where each microlens unit is located is basically consistent;
b1, establishing a global coordinate system (X, Y, Z) for the entire microlens array, establishing a local coordinate system (xi, yi, zi) for each individual microlens unit, and the center coordinate of the corresponding region is (X0, Y0, Z0), wherein the center coordinate of the region represents the initial center position of the corresponding microlens unit;
c1, setting the real central position of each microlens unit to be respectively added with a random offset X in the X-axis and Y-axis directions at the central coordinate of the areaOffset、YOffset(ii) a And
d1, for each microlens element, the surface profile along the Z-axis direction is represented by a curved function f:
Figure BDA0002935248890000061
wherein r is2＝(xi-x0-XOffset)2+(yi-y0-YOffset)2C is the curvature of the microlens unit, k is a conic constant, Ai is the coefficient of the ith expansion polynomial, ZOffsetIs the offset in the Z-axis direction corresponding to each microlens unit.
In an embodiment, in the projection method, further comprising:
and starting the light source units of different subareas according to preset time so that the light source units of all subareas can illuminate corresponding areas at different moments.
In one embodiment, in the projection method, the light source units of different partitions are periodically turned on, and in one period, the light source units of the partitions correspondingly illuminate areas of the whole target scene respectively.
According to another aspect of the present invention, the present invention further provides a method for acquiring depth information, comprising:
emitting light by a plurality of zoned light source units;
modulating the light emitted by the light source units of different partitions, wherein the modulated light illuminates corresponding areas in a target scene;
the reflected light is received for obtaining depth information.
In an embodiment, in the method of acquiring depth information, the light source units of different partitions emit light at different times to illuminate corresponding areas respectively.
In an embodiment, in the method for acquiring depth information, the light source units of the respective partitions respectively illuminate respective areas of the entire target scene correspondingly in one period.
According to another aspect of the present invention, there is provided a circuit control method for a partitioned projection device, comprising:
turning on a first area light source unit at a first time, wherein the first area light source unit emits light to illuminate a first area of a target scene; and
turning on a second area light source unit at a second time, wherein the second area light source unit emits light to illuminate a second area of the target scene.
In an embodiment, wherein the first area light source unit emits light to illuminate a second area of the target scene, wherein the second area light source emits light to illuminate the first area of the target scene.
In one embodiment, in the circuit control method, the light source units of different partitions are periodically turned on, and in one period, the light source units of the partitions correspondingly illuminate areas of the whole target scene respectively.
According to another aspect of the present invention, the present invention further provides a light source unit for a subarea projection device, wherein the subarea projection device is adapted for a dTOF-based detection apparatus, wherein the detection apparatus comprises a receiving device, wherein the subarea projection device is adapted to emit light towards a target scene, and the receiving device receives reflected light, wherein the subarea projection device comprises at least one light modulation element corresponding to said light source unit, wherein a plurality of said light source units are arranged in subareas, wherein said light source units of different subareas are adapted to emit light to illuminate corresponding different areas in the target scene.
According to another aspect of the present invention, the present invention further provides a dTOF-based detection apparatus, comprising a subarea projection device and a receiving device, wherein the subarea projection device is used for emitting light to a target scene, and the receiving device is used for receiving the reflected light, wherein the subarea projection device comprises:
a plurality of zoned light source units, wherein the light source units of different zones are to emit light to illuminate corresponding different areas in a target scene; and
and the light modulation element is used for modulating the light emitted by the light source units of different partitions to form a specific light field distribution so that the receiving device can receive the reflected light.
According to another aspect of the present invention, the present invention further provides a detection method, including:
emitting light by a plurality of zoned light source units;
modulating the light emitted by the light source units of different partitions, wherein the modulated light illuminates corresponding areas in a target scene; and
and receiving the reflected light for acquiring the detection distance.
According to another aspect of the present invention, the present invention further provides an electronic device, comprising:
an apparatus main body;
a subarea projection device; and
a receiving device, wherein the subarea projecting device and the receiving device are installed on the main body of the apparatus, wherein the subarea projecting device is used for emitting light to the target scene, and the receiving device is used for receiving the reflected light, wherein the subarea projecting device comprises:
a plurality of zoned light source units, wherein the light source units of different zones are to emit light to illuminate corresponding different areas in a target scene; and
and the light modulation element is used for modulating the light emitted by the light source units of different partitions so that the receiving device can receive the reflected light to acquire the depth information.
Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.
These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the claims.
Drawings
Fig. 1 is a block diagram of a detection apparatus using a partitioned projection device according to a preferred embodiment of the present invention.
Fig. 2A is a schematic plan view of the light source units of the 2 × 2 divisional arrangement of the divisional projection apparatus according to the above preferred embodiment of the present invention.
Fig. 2B is a schematic plan view of the light source units arranged in 2 × 5 divisions of the divisional projection apparatus according to the above preferred embodiment of the present invention.
Fig. 3A is a schematic view of an application of the subarea projection device according to the above preferred embodiment of the present invention.
Fig. 3B is a schematic view of another application of the subarea projection device according to the above preferred embodiment of the present invention.
Fig. 4 is a schematic structural view of a light modulation element of the divisional projection apparatus according to the above preferred embodiment of the present invention.
Fig. 5 is a schematic plan view of the light modulation element of the divisional projection apparatus according to the above preferred embodiment of the present invention having a set of randomly regularly arranged microlens units.
Fig. 6 is a schematic diagram illustrating the output light illuminance of the light source unit of one of the subarea projection apparatus of the preferred embodiment of the present invention for illuminating the corresponding area of the target scene.
Fig. 7 is a schematic diagram illustrating the output light illuminance of the light source unit of another sub-area of the sub-area projection apparatus according to the above preferred embodiment of the present invention for illuminating a corresponding area of the target scene.
Fig. 8 is a schematic diagram illustrating the output light illuminance of the light source unit of another sub-area of the sub-area projection apparatus according to the above preferred embodiment of the present invention for illuminating a corresponding area of the target scene.
Fig. 9 is a schematic diagram illustrating the output light illuminance of the light source unit of another sub-area of the sub-area projection apparatus according to the above preferred embodiment of the present invention for illuminating a corresponding area of the target scene.
Fig. 10 is a schematic diagram showing the illuminance of the output light of the light source unit of each subarea of the subarea projection device according to the above preferred embodiment of the present invention, which illuminates the whole target scene.
Fig. 11 is a block diagram of a light source unit control circuit of the divisional projection apparatus according to the above preferred embodiment of the present invention.
Fig. 12 is a schematic view illustrating an application of the partition projection device according to the above preferred embodiment of the present invention to optical axis deflection.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular orientation, and thus the above terms are not to be construed as limiting the present invention.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Fig. 1 is a block diagram of a dTOF-based probe device according to a preferred embodiment of the present invention, wherein the probe device obtains probe distance or depth information of a target scene based on the dTOF technology. As shown in fig. 1, the detection apparatus includes a subarea projection device 10 and a receiving device 20, wherein the subarea projection device 10 is configured to emit light to a target scene, the light is reflected by the target scene, and the reflected light is received by the receiving device 20, so as to obtain detection distance or depth information.
In this embodiment, the detection device can be used to acquire depth information, and is suitable for a depth camera, an intelligent robot (such as a sweeping robot), a three-dimensional electronic device, a smart phone, or the like. The detection device can meet the requirements for environment perception and modeling, motion capture and recognition and the like, and is suitable for terminal devices such as smart phones and VR/AR. The detection equipment can meet the requirements of gesture sensing or proximity detection of various innovative user interfaces, and has wide application prospect in the fields of computers, household appliances, industrial automation, service robots, unmanned aerial vehicles, Internet of things and the like.
Preferably, as shown in fig. 2A, 2B, 3A and 3B, the partition projection device 10 includes a plurality of light source units 11 arranged in partitions and at least one light modulation element 12, wherein the light source units 11 of different partitions are used for emitting and illuminating corresponding areas in the target scene 100, wherein the light modulation element 12 corresponds to the light source units 11, that is, the light modulation element 12 is disposed in the path of the light emitted by the light source units 11, wherein the light modulation element 12 is used for modulating the light emitted by the light source units of different partitions, and the receiving device 20 receives the reflected light to obtain the depth information of the target scene.
That is, the entire light source unit 11 is divided into a plurality of light source units 11 in sections, the light source units 11 in different sections are juxtaposed on the same plane, the positions of the sections are independent of each other and do not overlap each other, and the light emitted from the light source units 11 in different sections does not completely overlap each other. Alternatively, the light source units 11 of different partitions respectively illuminate different areas in the target scene 100. Further, all of the light source units 11 collectively illuminate the entire area of the target scene 100.
In the present embodiment, the light source unit 11 is a laser emitter or an array. Preferably, the light source units 11 of each partition are laser emitting arrays, and have preset light emitting areas. Alternatively, the light source units 11 of the respective segments are different light emitting regions of one light source and can be independently turned on. Alternatively, the light source unit 11 of each segment is composed of a plurality of light sources independent of each other. Parameters of the light source units 11 of different divisions such as emission angle, light emitting surface size, light emitting efficiency, light emitting intensity, and the like may be the same or different. The receiving means 20 is implemented as a TOF sensor, which processes the detected distance or depth information, etc. based on the emitted light and the reflected light.
Specifically, the light source units 11 arranged in a plurality of zones include a first zone light source unit 111 and a second zone light source unit 112 arranged in zones, wherein the light emitted by the first zone light source unit 111 illuminates a first zone 101 in the target scene 100, wherein the light emitted by the second zone light source unit 112 illuminates a second zone 102 in the target scene 100, wherein the first zone 101 and the second zone 102 may partially overlap or not overlap at all. That is, the light beam emitted from the first area light source unit 111 and the light beam emitted from the second area light source unit 112 may partially overlap or not overlap at all.
It is worth mentioning that there may be other correspondences between the light source units 11 arranged in a plurality of zones and a plurality of regions of the target scene. For example, in another alternative embodiment, the light emitted by the first area light source unit 111 illuminates the second area 102 in the target scene 100, and the light emitted by the second area light source unit 112 illuminates the first area 101 in the target scene 100, which is only an example and not a limitation.
Further, as shown in fig. 2A, the divisional area of the first area light source unit 111 is equal to the divisional area of the second area light source unit 112. That is, the light emitting area of the first area light source unit 111 is equal to the light emitting area of the second area light source unit 112, and has symmetry. Optionally, the light-emitting area of the first area light source unit 111 may not be equal to the light-emitting area of the second area light source unit 112, so as to adapt to more application scenarios. Preferably, the shape of each partition of the light source unit 11 is rectangular, or polygonal such as triangle or quadrangle, circular or oval, or the like.
Further, the divisional areas of the light source units 11 arranged in plural divisions are not uniform, or are set in accordance with a preset area. For example, the area of the partitions of the light source unit 11 arranged in a plurality of partitions is gradually increased, or is larger in the middle and smaller in the periphery, and the like. Alternatively, the divisional areas or shapes of the light source units 11 arranged in plural divisions are irregularly arranged, or the like.
Still further, the light source units 11 arranged in a plurality of zones further comprise a third zone light source unit 113 and a fourth zone light source unit 114, wherein the light emitted by the third zone light source unit 113 illuminates the third zone 103 in the target scene 100, and wherein the light emitted by the fourth zone light source unit 114 illuminates the fourth zone 104 in the target scene 100.
In another alternative embodiment, the light emitted by the first area light source unit 111 illuminates the fourth area 104 in the target scene 100, wherein the light emitted by the second area light source unit 112 illuminates the third area 103 in the target scene 100, the light emitted by the third area light source unit 113 illuminates the second area 102 in the target scene 100, and wherein the light emitted by the fourth area light source unit 114 illuminates the first area 101 in the target scene 100. Of course, in the present invention, there may be other corresponding relations between the light source units 11 arranged in a plurality of zones and a plurality of regions of the target scene, which is not limited herein.
In the present embodiment, the number of divisions and the arrangement of the light source units 11 arranged in a plurality of divisions may be implemented as: 2, 4, 2, 6, 1, 12, etc., it is understood by those skilled in the art that the light source unit 11 of the multi-partition arrangement of the present invention may have other types of partition numbers and arrangements to be suitable for different application scenarios, and is not limited herein.
In practical applications, the light source units 11 of the respective partitions may be sequentially turned on at different times, so as to sequentially illuminate the respective areas in the target scene 100, that is, the light source units 11 of the respective different partitions do not need to be turned on simultaneously, and the target scene is detected with lower power consumption.
Compared with the conventional detection device, the subarea projection device 10 of the detection device of the invention has the light source units 11 arranged in a plurality of preset subareas, and the light source units 11 of different subareas illuminate corresponding areas, so that subarea detection of a target scene is realized, and further distance detection is realized under lower power consumption.
Preferably, the light modulation element 12 has a light modulation surface 120 that a plurality of subareas were arranged, wherein the light modulation surface 120 with the light source unit 11 corresponds, and each subarea the light that the light source unit 11 emitted is corresponding through the light modulation surface 120 after the modulation, illuminate corresponding region.
It should be noted that the light modulation surface 120 and the light source unit 11 may correspond to each other in the following manner: one-to-one, one-to-many, many-to-many, combinations thereof, or the like. In other words, the light modulation surface 120 corresponds to one of the light source units 11, or the light modulation surface 120 corresponds to a plurality of the light source units 11, and the like.
Further, as shown in fig. 3A, the light modulation element 12 has a first light modulation surface 121, a second light modulation surface 122, a third light modulation surface 123 and a fourth light modulation surface 124 which are arranged in a partition manner, wherein the first light modulation surface 121 corresponds to the first area light source unit 111, wherein the first light modulation surface 121 is used for modulating the light emitted by the first area light source unit 111, and the light modulated by the first light modulation surface 121 is emitted toward a first angle for illuminating the first area 101. The second light modulation surface 122 corresponds to the second area light source unit 112, wherein the second light modulation surface 122 is configured to modulate light emitted from the second area light source unit 112, and the light modulated by the second light modulation surface 122 is emitted toward a second angle for illuminating the second area 102. The third light modulation surface 123 corresponds to the third area light source unit 113, wherein the third light modulation surface 123 is configured to modulate light emitted from the third area light source unit 113, and the light modulated by the third light modulation surface 123 is emitted toward a third angle for illuminating the third area 103. The fourth light modulation surface 124 corresponds to the fourth area light source unit 114, wherein the fourth light modulation surface 124 is used for modulating the light emitted by the fourth area light source unit 114, and the light modulated by the fourth light modulation surface 124 is emitted toward a fourth angle for illuminating the fourth area 104.
In another optional embodiment, the first light modulation surface 121 is configured to modulate the light emitted from the first area light source unit 111, wherein the light modulated by the first light modulation surface 121 is emitted toward an angle corresponding to the second area 102 to illuminate the second area 102, wherein the second light modulation surface 122 corresponds to the second area light source unit 112, wherein the second light modulation surface 122 is configured to modulate the light emitted from the second area light source unit 112, and wherein the light modulated by the second light modulation surface 122 is emitted toward an angle corresponding to the first area 101 to illuminate the first area 101.
In another optional embodiment, the first light modulation surface 121 corresponds to the first area light source unit 111, wherein the first light modulation surface 121 is configured to modulate light emitted from the first area light source unit 111, and wherein the light modulated by the first light modulation surface 121 is emitted toward an angle corresponding to the fourth area 104, so as to illuminate the fourth area 104. The second light modulation surface 122 corresponds to the second area light source unit 112, wherein the second light modulation surface 122 is configured to modulate light emitted from the second area light source unit 112, and the light modulated by the second light modulation surface 122 is emitted toward an angle corresponding to the third area 103, so as to illuminate the third area 103. The third light modulation surface 123 corresponds to the third area light source unit 113, wherein the third light modulation surface 123 is configured to modulate light emitted from the third area light source unit 113, and the light modulated by the third light modulation surface 123 is emitted toward an angle corresponding to the second area 102, so as to illuminate the second area 102. The fourth light modulation surface 124 corresponds to the fourth area light source unit 114, wherein the fourth light modulation surface 124 is used for modulating the light emitted by the fourth area light source unit 114, and the light modulated by the fourth light modulation surface 124 is emitted toward an angle corresponding to the first area 101, so as to illuminate the first area 101.
Optionally, as shown in fig. 3B, the light modulation element 12 has a fifth light modulation surface 125 and a sixth light modulation surface 126 which are arranged in a partitioned manner, wherein the fifth light modulation surface 125 corresponds to the first area light source unit 111 and the second area light source unit 112, and the light emitted by the first area light source unit 111 and the second area light source unit 112 is modulated by the fifth light modulation surface 125 and illuminates the first area 101 and the second area 102. The sixth light modulation surface 126 corresponds to the third area light source unit 113 and the fourth area light source unit 114, wherein the light emitted by the third area light source unit 113 and the fourth area light source unit 114 is modulated by the sixth light modulation surface 126, and illuminates the third area 103 and the fourth area 104.
In this embodiment, the light modulation element 12 may be implemented as a DOE light homogenizer, or other light modulation element.
Preferably, as shown in fig. 4 and 5, the light modulation element 12 is a light uniformizing element having a microlens array structure, that is, the light modulation surface 120 of the light modulation element 12 is formed by the microlens array, so that light emitted by the light source unit 11 is modulated by the microlens array to form a preset light field.
It is understood that the light emitted from the light source unit 11 is modulated by the light modulation element 12 to form a light beam with a specific light field distribution facing a certain field angle range, so as to form a preset light field.
Further, the microlens array is composed of a group of microlens units 1201 arranged in a random regularization manner, wherein partial parameters of the microlens units 1201 of the light modulation surface 120 of each partition are different from each other to prevent interference fringes from being generated when light propagates in space. Compared with the traditional regularly arranged micro-lens array, the micro-lens array of the light modulation element 12 can avoid the phenomenon that light and dark stripes are generated due to interference effect in the process of space transmission of light beams, improve the uniformity of a light field and be beneficial to improving the detection quality. The micro-lens array realizes the modulation of light beams based on the refraction optical principle, and avoids the defects that the existing diffraction dodging element has zero order, which obviously causes poor energy uniformity, or the diffraction efficiency of the dodging element is low, which causes low transmittance, and the like, thereby being beneficial to the acquisition of information by the detection equipment and improving the detection quality.
Partial parameters or random regular variables of each microlens unit 1201 are preset in a random regular change within a certain range, so that each microlens unit 1201 has a shape and size or a spatial arrangement mode which are randomly regulated, namely the shape and size between any two microlens units 1201 are different from each other, and the arrangement mode is irregular, so that interference fringes are prevented from being generated when light beams are transmitted in space, the light-equalizing effect is improved, and the regulation and control on the light spot shape and the light intensity distribution of the required illumination target scene are met.
Preferably, the microlens unit 1201 has an aspherical surface type, which is an optical structure having an optical power function. For example, the microlens unit 1201 may be a concave lens or a convex lens, and is not particularly limited herein. The light spot shape and the light intensity distribution of the required illumination target scene are regulated and controlled by performing random regularization treatment, namely a modulation process on partial parameters or variables of the micro-lens unit 1201. The partial random parameters of the microlens unit 1201 include, but are not limited to, the curvature radius, conic constant, aspheric coefficient, shape and size of the effective clear aperture of the microlens unit 1201, i.e., the cross-sectional profile of the microlens unit 1201 on the X-Y plane, spatial arrangement of the microlens unit 1201, and surface profile of the microlens unit 1201 in the Z-axis direction.
Further, the light uniformizing element includes a substrate, wherein the microlens array is formed on a surface of the substrate to form the light modulation surface 120, such as a side surface of the substrate opposite to the light source unit 11, or a side surface of the substrate close to the light source unit 11. The substrate may be made of a transparent material, such as a plastic material or a glass material. In order to avoid the light beam from directly propagating forward through the substrate, the microlens array should cover the surface of the substrate as completely as possible, so that substantially all the light generated by the light source unit 11 is modulated by the microlens array and then propagates forward. In other words, the microlens units 1201 of the microlens array are arranged as close as possible on the substrate surface, and the surface coverage is as high as possible.
Preferably, the surface profile z of each of the microlens units is represented as:
Figure BDA0002935248890000151
wherein the content of the first and second substances,
Figure BDA0002935248890000152
a base aspheric term, wherein c is a curvature of the microlens unit, and k is a conic constant, wherein
Figure BDA0002935248890000153
For expanding polynomials, where N is the number of polynomials, AiFor coefficients of the ith expansion polynomial, polynomial Ei(x, y) is a power series of x and y, where the first term is x, the second term is y, and then x, x y, y.
It is noted that in many scenarios, the optical axis of the light beam incident on the light modulation element 12 is not parallel to the optical axis of the light beam exiting the light modulation element 12 to be directed to the target scene 100, with an included angle. For example, as shown in fig. 12, the fourth light modulation surface 124 is used for modulating the light emitted by the fourth area light source unit 114, wherein the light modulated by the fourth light modulation surface 124 is emitted toward the first angle for illuminating the first area 101. Thus, the surface profile z of the microlens unit 1201 of the present application needs to depend on an expansion polynomial
Figure BDA0002935248890000154
The symmetry of the basic aspheric surface shape of the microlens composing the light modulation element 12 is broken, so that the microlens unit 1201 has an asymmetric surface shape, thereby enabling the optical axis deflection after the light beam is modulated by the light modulation element 12.
That is, the microlens unit 1201 in the light modulation element 12 of the present application is provided with an asymmetric surface shape by an odd term of the expansion polynomial to realize optical axis deflection.
Preferably, the microlens unit 1201 in the light modulation element 12 controls the degree of asymmetry of the microlens and the magnitude of the optical axis deflection angle by adjusting the odd term coefficient of the expansion polynomial.
It is worth mentioning that, in order to solve the problem of illumination non-uniformity introduced by optical axis deflection, the present application further optimizes the surface shape of the microlens unit 1201 by properly configuring the expansion polynomial so as to achieve uniform illumination within the required illumination range.
By way of example, the present embodiment provides a design method of the first implementation mode of the microlens array of the light modulation element 12, including the steps of:
s01, dividing the area where each microlens unit 1201 is located on the surface of the substrate, wherein the cross-sectional shapes or the sizes of the areas where each microlens unit 1201 is located are basically consistent;
s02, establishing a global coordinate system (X, Y, Z) for the entire microlens array, establishing a local coordinate system (xi, yi, zi) for each individual microlens unit, and the center coordinate of the corresponding region is (X0, Y0, Z0), wherein the center coordinate of the region 103 represents the initial center position of the corresponding microlens unit;
s03, setting the real central position of each microlens unit to be respectively added with a random offset X in the directions of the X axis and the Y axis at the central coordinate of the areaOffset、YOffset(ii) a And
s04, for each microlens unit, the surface profile along the Z-axis direction is expressed by a curved function f:
Figure BDA0002935248890000161
wherein r is2＝(xi-x0-XOffset)2+(yi-y0-YOffset)2C is the curvature of the microlens unit, k is a conic constant, Ai is the coefficient of the ith expansion polynomial, ZOffsetIs the offset in the Z-axis direction corresponding to each microlens unit.
It should be noted that the curvature c, the conic constant k, and the aspheric coefficient Ai of the microlens unit are randomly regulated in a certain range according to the application scenario. Randomly regularizing the parameters of the microlens unit, such as curvature c, conic constant k and aspherical coefficient Ai, within a predetermined rangeOn the basis of the local coordinate system (xi, yi, zi), converting the coordinate of each microlens unit from the local coordinate system (xi, yi, zi) to the global coordinate system (X, Y, Z), and converting the offset Z along the Z-axis direction corresponding to each microlens unitOffsetRandom regularization is carried out in a certain range, so that the surface shape of each micro lens unit in the Z-axis direction is randomly regularized, interference fringes generated by light beams are avoided, and the light uniformizing effect is achieved.
In step S01, the cross-sectional shape of the region where each microlens unit 1201 is located is selected from a group consisting of: rectangular, circular, triangular, trapezoidal, polygonal, or other irregular shapes, without limitation.
By way of example, the present embodiment provides a design method of the second implementation of the microlens array of the light modulation element 12, including the steps of:
s01a, dividing the area where each microlens unit 1201 is located on the surface of the substrate, wherein the cross-sectional shapes or the sizes of the areas where the microlens units 1201 are located are different;
s02b, establishing a global coordinate system (X, Y, Z) for the whole microlens array, establishing a local coordinate system (xi, yi, zi) for each individual microlens unit, and the central coordinate of the local coordinate system is (X0, Y0, Z0);
s03c, for each microlens unit, the surface profile along the Z-axis direction is represented by a curved function f:
Figure BDA0002935248890000171
wherein r is2＝(xi-x0)2+(yi-y0)2C is the curvature of the microlens unit, k is a conic constant, Ai is the coefficient of the ith expansion polynomial, ZOffsetIs the offset in the Z-axis direction corresponding to each microlens unit.
Note that the curvature c, the circle of the microlens unit 1201The cone constant k and the aspheric coefficient Ai are randomly regulated in a certain range according to the application scene. On the basis of random regularization processing of parameters such as curvature c, conic constant k and aspheric surface coefficient Ai of the microlens units 1201 in a predetermined range, the coordinate of each microlens unit 1201 is converted from the local coordinate system (xi, yi, zi) to the global coordinate system (X, Y, Z), and the amount of shift Z along the Z-axis direction corresponding to each microlens unit 1201 is convertedOffsetRandom regularization is performed within a certain range, so that the surface shape of each microlens unit 1201 in the Z-axis direction is randomly regularized, interference fringes generated by light beams are avoided, and the dodging effect is achieved.
Fig. 6 is a schematic diagram illustrating the output light illuminance of the light source unit 11 of one of the sub-regions to illuminate the corresponding region of the target scene. Fig. 7 is a schematic diagram illustrating the output light illuminance of the light source unit 11 in another region to illuminate a corresponding region of the target scene. Fig. 8 is a schematic diagram showing the output light illuminance of another region of the light source unit 11 illuminating the corresponding region of the target scene. Fig. 9 is a schematic diagram showing the output light illuminance of another region of the light source unit 11 illuminating the corresponding region of the target scene. Fig. 10 is a schematic diagram of the illumination of the output light with the entire object scene illuminated.
Further, as shown in fig. 11, the partition projection device includes a light source unit control circuit 13, wherein the light source unit control circuit 13 is electrically connected to the light source units 11 of each partition, and the light source unit control circuit 13 is configured to turn on the light source units 11 of different partitions at preset time to illuminate the corresponding areas at different times. Specifically, the light source unit control circuit 13 is electrically connected to the first area light source unit 111, the second area light source unit 112, the third area light source unit 113, and the fourth area light source unit 114. The light source unit control circuit 13 may independently turn on or off the light source units 11 of the respective partitions.
Further, the light source unit control circuit 13 may turn on the light source units 11 of different partitions at different times to illuminate different areas at different times.
In other words, at a first time, the light source unit control circuit 13 turns on the first area light source unit 111, and the first area light source unit 111 emits light to illuminate the first area 101 of the target scene 100. At a second time, the light source unit control circuit 13 turns on the second area light source unit 112, and the second area light source unit 112 emits light to illuminate the second area 102 of the target scene 100. At a third time, the light source unit control circuit 13 turns on the third area light source unit 113, and light is emitted by the third area light source unit 113 to illuminate the third area 103 of the target scene 100. At a fourth time, the light source unit control circuit 13 turns on the fourth area light source unit 114, and the fourth area light source unit 114 emits light to illuminate the fourth area 104 of the target scene 100.
In another alternative embodiment, the first area light source unit 111 emits light to illuminate the second area 102 of the target scene, wherein the second area light source unit 112 emits light to illuminate the first area 101 of the target scene. Specifically, at a first time, the light source unit control circuit 13 turns on the first area light source unit 111, and the first area light source unit 111 emits light to illuminate the second area 102 of the target scene 100. At a second time, the light source unit control circuit 13 turns on the second area light source unit 112, and the second area light source unit 112 emits light to illuminate the first area 101 of the target scene 100.
In another alternative embodiment, at the first time, the light source unit control circuit 13 turns on the first area light source unit 111, and the first area light source unit 111 emits light to illuminate the fourth area 104 of the target scene 100. At a second time, the light source unit control circuit 13 turns on the second area light source unit 112, and the second area light source unit 112 emits light to illuminate the third area 103 of the target scene 100. At a third time, the light source unit control circuit 13 turns on the third area light source unit 113, and light is emitted by the third area light source unit 113 to illuminate the second area 102 of the target scene 100. At a fourth time, the light source unit control circuit 13 turns on the fourth area light source unit 114, and the fourth area light source unit 114 emits light to illuminate the first area 101 of the target scene 100.
Further, the light source unit driving circuit 13 periodically turns on the light source units 111 of different partitions, and in one period, the light source units 11 of each partition correspondingly illuminate each area of the whole target scene. For example, the first, second, third and fourth regions constitute the whole region of the target scene, and the light source unit driving circuit 13 periodically turns on the first, second, third and fourth region light source units 111, 112, 113 and 114 with the first time, the second time, the third time and the fourth time as one period, so as to illuminate the whole target scene in one period.
Further, the preferred embodiment provides a projection method of the partitioned projection device 10, including:
emitting light by a plurality of zoned light source units; and
and modulating the light emitted by the light source units of different subareas, wherein the modulated light illuminates a corresponding area in a target scene so as to be received by a receiving device of the dTOF-based detection equipment.
In an embodiment, in the projection method, the plurality of light source units arranged in zones includes a first zone light source unit and a second zone light source unit arranged in zones, wherein the first zone light source unit is configured to emit light to illuminate a first zone in the target scene, and wherein the second zone light source unit is configured to emit light to illuminate a second zone of the target scene.
In one embodiment, in the projection method, light emitted by the first area light source unit is modulated by a first light modulation surface and emitted toward a first angle to illuminate the first area, and light emitted by the second area light source unit is modulated by a second light modulation surface and emitted toward a second angle to illuminate the second area.
It is worth mentioning that there may be other correspondences between the light source units 11 arranged in a plurality of zones and a plurality of regions of the target scene. In an alternative embodiment, the plurality of zoned light source units comprises a first area light source unit and a second area light source unit in a zoned arrangement, wherein the first area light source unit is configured to emit light to illuminate a second area in the target scene, and wherein the second area light source unit is configured to emit light to illuminate the first area of the target scene.
Furthermore, the light emitted by the first area light source unit is modulated by a first light modulation surface and emitted towards the angle corresponding to the second area so as to illuminate the second area, wherein the light emitted by the second area light source unit is modulated by a second light modulation surface and emitted towards the angle corresponding to the first area so as to illuminate the first area.
In one embodiment, in the projection method, light emitted from the light source units of a plurality of different divisions is modulated via the same light modulation surface of a light modulation element.
In one embodiment, in the projection method, the light emitted by the light source unit is modulated by a DOE dodging sheet.
In one embodiment, in the projection method, the light emitted from the light source unit is modulated by a light homogenizing element having a microlens array structure, wherein the microlens array is composed of a group of randomly regularly arranged microlens units, and partial parameters of each microlens unit are different from each other so as to prevent interference fringes from being generated when the light propagates in space.
In an embodiment, in the projection method, further comprising:
and starting the light source units of different subareas according to preset time so that the light source units of all subareas can illuminate corresponding areas at different moments.
In one embodiment, in the projection method, the light source units of different partitions are periodically turned on, and in one period, the light source units of the partitions correspondingly illuminate areas of the whole target scene respectively.
Further, the preferred embodiment also provides an electronic device, wherein the electronic device includes a smart phone, a VR/AR device, a depth camera computer, a household appliance, a service robot such as a sweeping robot, an unmanned aerial vehicle, and the like, and the electronic device includes:
an apparatus main body;
a subarea projection device; and
a receiving device, wherein the subarea projecting device and the receiving device are installed on the main body of the apparatus, wherein the subarea projecting device is used for emitting light to the target scene, and the receiving device is used for receiving the reflected light, wherein the subarea projecting device comprises:
a plurality of zoned light source units, wherein the light source units of different zones are to emit light to illuminate corresponding different areas in a target scene; and
and the light modulation element is used for modulating the light emitted by the light source units of different partitions so that the receiving device can receive the reflected light to acquire the depth information.
Further, the present preferred embodiment also provides a detection method, including:
emitting light by a plurality of zoned light source units;
modulating the light emitted by the light source units of different partitions, wherein the modulated light illuminates corresponding areas in a target scene; and
and receiving the reflected light for acquiring the detection distance.
Further, the present preferred embodiment also provides a method for acquiring depth information, including:
emitting light by a plurality of zoned light source units;
modulating the light emitted by the light source units of different partitions, wherein the modulated light illuminates corresponding areas in a target scene;
the reflected light is received for obtaining depth information.
Further, the present preferred embodiment further provides a circuit control method for a partitioned projection apparatus, including:
turning on a first area light source unit at a first time, wherein the first area light source unit emits light to illuminate a first area of a target scene; and
turning on a second area light source unit at a second time, wherein the second area light source unit emits light to illuminate a second area of the target scene.
In an alternative embodiment, the first area light source unit emits light to illuminate a second area of the target scene, wherein the second area light source unit emits light to illuminate the first area of the target scene.
In one embodiment, in the circuit control method, the light source units of different partitions are periodically turned on, and in one period, the light source units of the partitions correspondingly illuminate areas of the whole target scene respectively.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.

Claims (35)

1. A zone projection device adapted for use in a dTOF based detection apparatus, wherein the detection apparatus comprises a receiving device, wherein the zone projection device is adapted to emit light towards an object scene, and wherein the receiving device receives the reflected light, wherein the zone projection device comprises:
a plurality of zoned light source units, wherein the light source units of different zones are to emit light to illuminate corresponding different areas in a target scene; and
the light modulation element is used for modulating the light emitted by the light source units of different partitions to form specific light field distribution so that the receiving device can receive the reflected light;
wherein light modulation element has the light modulation face that a plurality of subregion were arranged, wherein light modulation face with light source unit corresponds, each subregion the light that light source unit launches corresponds light modulation face modulation back, evenly illuminates the region that corresponds.
2. The zone projection device of claim 1, wherein the plurality of zone-wise arranged light source units comprises a first zone light source unit and a second zone light source unit arranged in zones, wherein the first zone light source unit is to emit light to illuminate a first zone in the target scene, wherein the second zone light source unit is to emit light to illuminate a second zone of the target scene.
3. The zone projection device of claim 1, wherein the plurality of zone-wise arranged light source units comprises a first zone light source unit and a second zone light source unit arranged zone-wise, wherein the first zone light source unit is to emit light to illuminate a second zone in the target scene, wherein the second zone light source unit is to emit light to illuminate the first zone of the target scene.
4. The zone-dividing projection device of claim 2, wherein the zone area of the first zone light source unit is equal to the zone area of the second zone light source unit.
5. The zone-dividing projection device according to claim 1, wherein the area of the light source units of the plurality of zone arrangements is not uniform.
6. The zone projection apparatus according to claim 1, wherein the number and arrangement of the zones of the light source unit of the plurality of zone arrangements are selected from: 2 x 2, 4 x 4, 2 x 6 and 1 x 12.
7. The zoned projection device of claim 1, wherein the light modulation surface corresponds to the light source unit in a manner selected from the group consisting of: one or more combinations of one-to-one, one-to-many, and many-to-many.
8. The zone-dividing projection device of claim 2, wherein the light modulation element has a first light modulation surface and a second light modulation surface arranged in zones, wherein the first light modulation surface corresponds to the first area light source unit, wherein the first light modulation surface is used for modulating the light emitted by the first area light source unit, wherein the light modulated by the first light modulation surface is emitted toward a first angle for illuminating a first area, wherein the second light modulation surface corresponds to the second area light source unit, wherein the second light modulation surface is used for modulating the light emitted by the second area light source unit, wherein the light modulated by the second light modulation surface is emitted toward a second angle for illuminating a second area.
9. The zone-dividing projection device of claim 3, wherein the light modulation element has a first light modulation surface and a second light modulation surface arranged in zones, wherein the first light modulation surface corresponds to the first area light source unit, wherein the first light modulation surface is used for modulating the light emitted by the first area light source unit, wherein the light modulated by the first light modulation surface is emitted toward an angle corresponding to a second area for illuminating the second area, wherein the second light modulation surface corresponds to the second area light source unit, wherein the second light modulation surface is used for modulating the light emitted by the second area light source unit, wherein the light modulated by the second light modulation surface is emitted toward an angle corresponding to the first area for illuminating the first area.
10. The zoned projection device of any one of claims 1 to 9, wherein the light modulating element is a DOE shimmer.
11. The zoned projection apparatus according to any one of claims 1 to 9, wherein the light modulation element is a light uniformizing element having a microlens array structure, so that light emitted from the light source unit is modulated by the microlens array to form a predetermined light field.
12. The zoned projection device of claim 11, wherein the microlens array is comprised of a set of randomly arranged microlens elements, wherein a portion of parameters of the microlens elements of the light modulation surface of each zone are different from each other to prevent interference fringes when light propagates spatially.
13. The zoned projection device of claim 12, wherein the surface profile z of each of the microlens elements is represented as:
Figure FDA0002935248880000021
wherein the content of the first and second substances,
Figure FDA0002935248880000022
a base aspheric term, wherein c is a curvature of the microlens unit, and k is a conic constant, wherein
Figure FDA0002935248880000023
For expanding polynomials, where N is the number of polynomials, AiFor coefficients of the ith expansion polynomial, polynomial Ei(x, y) is a power series of x and y, where the first term is x, the second term is y, and then x, x y, y.
14. The zoned projection device of claim 13, wherein the microlens elements are asymmetrically faceted by odd-order terms of the expansion polynomial to achieve optical axis deflection.
15. The zone projection apparatus according to any one of claims 1 to 9, further comprising a light source unit control circuit, wherein the light source unit control circuit is electrically connected to the light source units of each zone, wherein the light source unit control circuit is configured to turn on the light source units of different zones at preset times, so that the light source units of each zone illuminate corresponding areas at different times.
16. The zone projection apparatus according to claim 15, wherein the light source units of different zones are periodically turned on, and in one period, the light source units of each zone correspondingly illuminate each area of the whole target scene respectively.
17. A method of projecting, comprising:
emitting light by a plurality of zoned light source units; and
modulating the light emitted by the light source units of different partitions by using a light modulation element, wherein the modulated light illuminates a corresponding area in a target scene so as to be received by a receiving device of the dTOF-based detection equipment;
wherein light modulation element has the light modulation face that a plurality of subregion were arranged, wherein light modulation face with light source unit corresponds, each subregion the light that light source unit launches corresponds light modulation face modulation back, evenly illuminates the region that corresponds.
18. The projection method of claim 17, wherein the plurality of zoned light source units comprises a first zone light source unit and a second zone light source unit in a zoned arrangement, wherein the first zone light source unit is to emit light to illuminate a first zone in the target scene, wherein the second zone light source unit is to emit light to illuminate a second zone of the target scene.
19. The projection method according to claim 17, wherein the plurality of zoned light source units comprises a first area light source unit and a second area light source unit, wherein the first area light source unit is configured to emit light to illuminate a second area in the target scene, wherein the second area light source unit is configured to emit light to illuminate the first area of the target scene.
20. The projection method as claimed in claim 18, wherein the light emitted from the first area light source unit is modulated by a first light modulation surface and emitted toward a first angle for illuminating the first area, and wherein the light emitted from the second area light source unit is modulated by a second light modulation surface and emitted toward a second angle for illuminating the second area.
21. The projection method as claimed in claim 19, wherein the light emitted from the first area light source unit is modulated by a first light modulation surface and emitted toward an angle corresponding to the second area for illuminating the second area, and wherein the light emitted from the second area light source unit is modulated by a second light modulation surface and emitted toward an angle corresponding to the first area for illuminating the first area.
22. The projection method according to claim 17, wherein light emitted from the light source units of a plurality of different divisions is modulated via the same light modulation surface of a light modulation element.
23. The projection method according to any one of claims 17 to 22, wherein the light emitted from the light source unit is modulated by a DOE homogenizer.
24. The projection method according to any one of claims 17 to 22, wherein the light emitted from the light source unit is modulated by a light uniformizing element having a microlens array structure, wherein the microlens array is composed of a group of microlens units randomly arranged in a regular manner, and partial parameters of each microlens unit are different from each other to prevent the light from generating interference fringes when the light propagates in space.
25. The projection method according to claim 24, wherein the design method of the microlens array comprises:
a. dividing areas where the micro lens units are located on the surface of a substrate, wherein the cross-sectional shapes or the sizes of the areas where the micro lens units are located are different;
b. establishing a global coordinate system (X, Y, Z) for the entire microlens array, establishing a local coordinate system (xi, yi, zi) for each individual microlens cell, and having a center coordinate of (X0, Y0, Z0); and
c. for each microlens unit, the surface profile along the Z-axis direction is expressed by a curved function f:
Figure FDA0002935248880000041
wherein r is2＝(xi-x0)2+(yi-y0)2C is the curvature of the microlens unit, k is a conic constant, Ai is the coefficient of the ith expansion polynomial, ZOffsetIs the offset in the Z-axis direction corresponding to each microlens unit.
26. The projection method according to claim 24, wherein the design method of the microlens array comprises:
a1, dividing the area where each microlens unit is located on the surface of a substrate, wherein the cross-sectional shape or size of the area where each microlens unit is located is basically consistent;
b1, establishing a global coordinate system (X, Y, Z) for the entire microlens array, establishing a local coordinate system (xi, yi, zi) for each individual microlens unit, and the center coordinate of the corresponding region is (X0, v0, Z0), wherein the center coordinate of the region represents the initial center position of the corresponding microlens unit;
c1, setting the real central position of each microlens unit to be respectively added with a random offset X in the X-axis and Y-axis directions at the central coordinate of the areaOffset、YOffset(ii) a And
d1, for each microlens element, the surface profile along the Z-axis direction is represented by a curved function f:
Figure FDA0002935248880000042
wherein r is2＝(xi-x0-XOffset)2+(yi-y0-YOffset)2C is the curvature of the microlens unit, k is a conic constant, Ai is the coefficient of the ith expansion polynomial, ZOffsetIs the offset in the Z-axis direction corresponding to each microlens unit.
27. The projection method according to any one of claims 17 to 22, further comprising:
and starting the light source units of different subareas according to preset time so that the light source units of all subareas can illuminate corresponding areas at different moments.
28. The projection method according to claim 27, wherein the light source units of different partitions are periodically turned on, and the light source units of the partitions correspondingly illuminate areas of the whole target scene in one period.
29. A method of obtaining depth information, comprising:
emitting light by a plurality of zoned light source units;
modulating the light emitted by the light source units of different partitions through a light modulation element, wherein the modulated light illuminates corresponding areas in a target scene;
receiving the reflected light for obtaining depth information;
wherein light modulation element has the light modulation face that a plurality of subregion were arranged, wherein light modulation face with light source unit corresponds, each subregion the light that light source unit launches corresponds light modulation face modulation back, evenly illuminates the region that corresponds.
30. The method of obtaining depth information of claim 29, wherein the light source units of different zones emit light at different times to illuminate corresponding areas, respectively.
31. The method of claim 30, wherein the light source units of each partition correspondingly illuminate each region of the whole target scene in one period.
32. A light source unit for a zonal projection apparatus, wherein the zonal projection apparatus is adapted for a dTOF based detection device, wherein the detection device comprises a receiving device, wherein the zonal projection apparatus is adapted to emit light towards a target scene, and wherein the receiving device receives reflected light, wherein the zonal projection apparatus comprises at least one light modulation element corresponding to said light source unit, characterized in that wherein a plurality of said light source units are arranged in zones, wherein said light source units of different zones are adapted to emit light to illuminate corresponding different areas in the target scene;
wherein light modulation element has the light modulation face that a plurality of subregion were arranged, wherein light modulation face with light source unit corresponds, each subregion the light that light source unit launches corresponds light modulation face modulation back, evenly illuminates the region that corresponds.
33. A dTOF-based detection apparatus comprising a zone projection device and a receiving device, wherein the zone projection device is configured to emit light towards a target scene and the receiving device is configured to receive reflected light, and wherein the zone projection device comprises:
a plurality of zoned light source units, wherein the light source units of different zones are to emit light to illuminate corresponding different areas in a target scene; and
at least one light modulation element, wherein the light modulation element corresponds to the light source unit, and the light modulation element is used for modulating the light emitted by the light source unit of different partitions to form a specific light field distribution so that the receiving device can receive the reflected light;
wherein light modulation element has the light modulation face that a plurality of subregion were arranged, wherein light modulation face with light source unit corresponds, each subregion the light that light source unit launches corresponds light modulation face modulation back, evenly illuminates the region that corresponds.
34. A method of probing, comprising:
emitting light by a plurality of zoned light source units;
modulating the light emitted by the light source units of different partitions through a light modulation element, wherein the modulated light illuminates corresponding areas in a target scene; and
receiving the reflected light for acquiring the detection distance;
wherein light modulation element has the light modulation face that a plurality of subregion were arranged, wherein light modulation face with light source unit corresponds, each subregion the light that light source unit launches corresponds light modulation face modulation back, evenly illuminates the region that corresponds.
35. An electronic device, comprising:
an apparatus main body;
a subarea projection device; and
a receiving device, wherein the subarea projecting device and the receiving device are installed on the main body of the apparatus, wherein the subarea projecting device is used for emitting light to the target scene, and the receiving device is used for receiving the reflected light, wherein the subarea projecting device comprises:
a plurality of zoned light source units, wherein the light source units of different zones are to emit light to illuminate corresponding different areas in a target scene; and
the light modulation element is corresponding to the light source unit and used for modulating light emitted by the light source unit of different partitions so that the receiving device can receive reflected light to acquire depth information;
wherein light modulation element has the light modulation face that a plurality of subregion were arranged, wherein light modulation face with light source unit corresponds, each subregion the light that light source unit launches corresponds light modulation face modulation back, evenly illuminates the region that corresponds.
CN202110160431.4A 2021-02-05 2021-02-05 Partition projection device and light source unit and application thereof Pending CN112965073A (en)

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