CN113325391A

CN113325391A - Wide-angle TOF module and application thereof

Info

Publication number: CN113325391A
Application number: CN202110662863.5A
Authority: CN
Inventors: 宋岩; 鲁丁; 张进
Original assignee: Zhejiang Sunny Optical Intelligent Technology Co Ltd
Current assignee: Zhejiang Sunny Optical Intelligent Technology Co Ltd
Priority date: 2017-12-08
Filing date: 2017-12-08
Publication date: 2021-08-31
Also published as: CN113325392A; CN109901134A

Abstract

The invention discloses a wide-angle TOF module and application thereof, wherein the wide-angle TOF module comprises a light sensing control module and at least one light source module which is adjacently arranged on the light sensing control module. The light source module further comprises a light emitter and at least one diffusion element which is kept in the light path of the light emitter, wherein the diffusion element increases the light source view angle of the light source module in a mode of diffusing the light generated by the light emitter.

Description

Wide-angle TOF module and application thereof

The application is a divisional application of a patent application with Chinese application number of 201711292526.1 and the name of 'Wide-angle TOF module and application thereof'.

Technical Field

The invention relates to the technical field of Time of flight (TOF), in particular to a wide-angle TOF module and application thereof, wherein the working angle of view of the wide-angle TOF module is larger than 80 degrees.

Background

The Time of flight (TOF) method measures a three-dimensional structure or a three-dimensional profile of a target object (or a target object detection area) by measuring a Time interval t (often referred to as a pulse ranging method) from transmission to reception of a pulse signal emitted from a measuring instrument or a phase difference ranging method generated by laser light once traveling to and from the target object. The TOF measuring instrument can simultaneously obtain a gray image and a distance image, and is widely applied to the fields of somatosensory control, behavior analysis, monitoring, automatic driving, artificial intelligence, machine vision, automatic 3D modeling and the like.

TOF measuring instruments are test instruments prepared by using a time-of-flight method, such as TOF cameras, and the measurement of the depth or three-dimensional structure of a target object is mainly based on the measurement of the phase difference of a pulse signal or laser. It typically includes a light source emitting module and a photosensitive receiving module, which cooperate with the photosensitive receiving module and generate depth information of the target object based on TOF depth measurements. More specifically, the light source emitting module emits a light wave of a specific wavelength band, the emitted light wave is reflected on the surface of the target object to be received by the photosensitive receiving module, and the photosensitive receiving module calculates the depth information of the target object according to the time difference or the phase difference between the emitted light wave and the received light wave. The TOF measuring instrument can not only acquire the depth information of a target object, but also acquire the gray information and the brightness information of the target object like a traditional camera module, so that the TOF measuring instrument is applied to various fields.

However, due to the design characteristics of the TOF measuring instrument in the prior art, taking a TOF camera as an example, the emission light source, the lens, the module design and the like of the TOF camera are all conventional field angles, so that the TOF camera is determined to be also a conventional field angle camera, and the design of the TOF measuring instrument makes the TOF measuring instrument not well applied in some specific scenes. In particular, since the TOF measuring instrument of the prior art is designed as a conventional field angle camera, the TOF measuring instrument of the prior art cannot be well applied in scenes requiring a large field angle.

In other words, the TOF measuring instrument with a conventional field angle, which is used for position tracking, for example, when the TOF measuring instrument is used for position tracking, the light source emitting module emits a light beam with at least a specific frequency and time to a target object, the light beam is reflected and received by the light sensing control module after reaching the target object, the TOF measuring instrument accurately measures phase difference information of the received light wave and the emitted light wave, and then converts the phase difference information into a time difference through calculation, and distance information of a three-dimensional scene object of the target object can be accurately output. While the target object is constantly moving during the position tracking of the target object, the TOF measuring instrument can achieve the position tracking of the target object only if the TOF measuring instrument accurately measures the target object, and at this time, once the target object escapes from the monitoring range of the TOF measuring instrument (the operating field angle range when the TOF measuring instrument is at a fixed position), the TOF measuring instrument cannot detect the target object, let alone track the target object. Of course, the monitoring range of the TOF measuring instrument can be adjusted by rotating the position of the TOF measuring instrument, but in this case, the position adjustment of the TOF measuring instrument has a time difference with the position tracking of the target object, thereby affecting the test accuracy of the target object, and in this case, a rotating device is additionally provided to control the position of the TOF measuring instrument.

In summary, the TOF measuring instrument can be applied to various fields, but the application effect of the TOF measuring instrument is limited due to the limitation of the working field angle of the TOF measuring instrument. For example, the TOF measuring instrument may be disposed in a home device to change an interaction mode between a user and the home device, for example, to implement functions such as gesture control of the home device, and to control a temperature raising and lowering function of an air conditioner according to a gesture action signal of the user. However, due to the limited field angle of the existing TOF measuring instrument, the gesture interaction range of the user can be limited to a certain limited range. Or the unmanned equipment is arranged in unmanned equipment, wherein the unmanned equipment helps the automatic driving automobile to avoid the moving object on the road according to the phase change of the moving object on the road and the fixed objects on two sides of the road, which is detected by the TOF measuring instrument, relative to the automatic driving automobile so as to realize the automatic driving of the motor vehicle, and the unmanned equipment comprises an unmanned ship and an unmanned machine. At this time, due to the limitation of the angle of view of the existing TOF measuring instrument, the vehicle needs to be provided with a plurality of the TOF measuring instruments to monitor the vehicle surroundings in all directions. Or the sweeping robot is configured in a robot device, for example, a sweeping robot, wherein the sweeping robot device helps the sweeping robot to perform path planning according to the phase change of the fixed object in the house, detected by the TOF measuring instrument, relative to the sweeping robot, so as to realize the functions of automatically completing sweeping, automatically charging and the like, and at this time, the sweeping robot can only be used in a certain range due to the limitation of the field angle of the existing TOF measuring instrument.

Disclosure of Invention

The invention aims to provide a wide-angle TOF module and application thereof, wherein the wide-angle TOF module has a larger working angle of view compared with a conventional TOF module, and the working angle of view of the wide-angle TOF module is larger, so that the wide-angle TOF module is well applied to a large-angle-of-view scene.

The invention aims to provide a wide-angle TOF module and application thereof, wherein the wide-angle TOF module is applied to a large-field-angle scene to measure a wider range of target objects, so that the test accuracy of the wide-angle TOF module is improved, and the comfort level of the use experience of a user is improved.

The invention aims to provide a wide-angle TOF module and application thereof, wherein the wide-angle TOF camera module can provide a field angle of more than 80 degrees and even 120 degrees, so that a target object in a large angle range can be imaged.

The invention aims to provide a wide-angle TOF module and application thereof, wherein the wide-angle TOF module changes a light source field angle of at least one light source module and simultaneously increases a photosensitive field angle of a photosensitive control module, so as to expand an operating field angle of the wide-angle TOF module, and the photosensitive field angle of the photosensitive control module is not smaller than the operating field angle.

The invention aims to provide a wide-angle TOF module and application thereof, wherein the light source module with a large light source field angle can be applied to multiple types of light sensing control modules, so that the multiple types of wide-angle TOF modules are formed.

The invention aims to provide a wide-angle TOF module and application thereof, wherein the light source module further comprises a diffusion element which is suitable for diffusing the angle of an emitted light beam of the light source module so as to enlarge the light source field angle of the light source module, in other words, the light source module does not need to change the structure of the existing light source module, so that the production and the processing of the wide-angle TOF module are facilitated.

The invention aims to provide a wide-angle TOF module and application thereof, wherein a diffusion element is arranged on one side of a light source module to control the angle of an emitted light beam of the light source module, and the light source angle of view of the light source module can be adjusted according to the actual condition.

The present invention is directed to a wide-angle TOF module and an application thereof, wherein the position of the light emitter in the light source module is adjusted to enlarge the light source field of view of the light source module, in other words, the light source field of view of the light source module is achieved by changing the position of the light emitter, and the plurality of light emitters are obliquely arranged to enlarge the light source field of view of the light source module.

The invention aims to provide a wide-angle TOF module and application thereof, wherein the type and the structure of the light emitter of the light source module do not need to be changed, and the production cost of the TOF module is reduced in this way.

The invention aims to provide a wide-angle TOF module and application thereof, wherein at least one diffractive optical element is arranged in a light source module, and the application of the diffractive optical element enlarges the field angle of the light source module without changing the original structure of the wide-angle TOF module, so that the manufacturing cost of the wide-angle TOF module is reduced.

The invention aims to provide a wide-angle TOF module and application thereof, wherein the wide-angle TOF module can be applied to working scenes such as gesture interaction, position tracking or SLAM and the like which need a large field angle, in other words, the application range of the wide-angle TOF module is wide.

The invention aims to provide a wide-angle TOF module and application thereof, wherein the wide-angle TOF module is well applied in a large-field-angle scene, in other words, the wide-angle TOF module still keeps good testing precision and testing depth in the large-field-angle scene.

The invention aims to provide a wide-angle TOF module and application thereof, wherein the working angle of view of the wide-angle TOF module is larger than 80 degrees, and the light source angle of view and the light sensing angle of view of the light source module and the light sensing control module of the wide-angle TOF module are simultaneously increased.

To achieve any of the above objectives, the present invention provides a wide-angle TOF module for detecting at least one target object at an operating field angle, comprising:

the light source module generates at least one emission light beam, and the emission light beam forms at least one receiving light beam after reaching the target object, wherein the emission light beam forms a light source field angle; and

the light sensing control module comprises at least one TOF light intensity sensor and at least one data processing module, wherein the data processing module is in communication connection with the TOF light intensity sensor, the TOF light intensity sensor receives the received light beam and generates at least one sensing signal, and the data processing module processes the sensing signal and generates at least one piece of raw data of the target object, wherein the received light beam defines a light sensing field angle, the working field angle comprises the light source field angle and the light sensing field angle, and the light source field angle and the light sensing field angle are correspondingly changed so that the range of the working field angle is larger than 80 degrees, wherein the light sensing field angle is not smaller than the light source field angle.

In some embodiments, the light source module includes at least one light emitter and at least one diffusion element, wherein the light emitter emits the emission beam, and the diffusion element is disposed in an optical path of the light emitter to diffuse the emission beam around, so as to change the light source field angle of the light source module, so that the light source field angle is greater than 80 °.

In some embodiments, wherein the diffusing element is implemented as a convex lens, the diffusing element is spaced apart from the light emitter.

In some embodiments, wherein the area of the diffusing element is not smaller than the light emitting area of the light emitter.

In some embodiments, the diffusing element is disposed symmetrically about a central axis of the light emitter.

In some embodiments, wherein the diffusing element is implemented as a diffusing mirror.

In some embodiments, the wide-angle TOF module comprises at least two light source modules, and the light source modules are arranged obliquely relative to each other, so that the emission beams generated by each light source module are emitted obliquely to each other to form the light source field angle larger than 80 °.

In some embodiments, a first light source module and a second light source module are disposed obliquely with respect to each other to generate at least a first emission beam and at least a second emission beam, respectively, wherein the first emission beam and the second emission beam are overlapped to form the emission beams with an angle greater than 80 °.

In some embodiments, the first light source module and the second light source module are in the same plane, so that the first emission light beam and the second emission light beam are in the same plane to be emitted to the target object.

In some embodiments, the first light source module and the second light source module are symmetrically arranged.

In some embodiments, the wide-angle TOF module includes at least one circuit board, wherein the light source module and the light sensing control module are respectively disposed at different positions of the circuit board.

In some embodiments, the TOF module includes at least one transition element, wherein the transition element is disposed on the circuit board and forms an angle of inclination with the circuit board.

In some embodiments, the transition element includes at least a first transition element and at least a second transition element, the first transition element is obliquely disposed on the circuit board, the first light source module is disposed on the first transition element, the second transition element is obliquely disposed on the circuit board, and the second light source module is disposed on the second transition element.

In some embodiments, the transition element conducts the light source module and the circuit board.

In some embodiments, the transition element includes at least one transition piece, and one end of the transition piece is connected to the light source module, and the other end of the transition piece is connected to the circuit board, so as to communicatively connect the light source module and the circuit board.

In some embodiments, wherein the LED illumination source emits the emission beam, the source field angle formed by the emission beam is greater than 80 °.

In some embodiments, the wide-angle TOF module includes at least one light emitter emitting the emission light beam and at least one diffractive optical element modulating the emission light beam to form the light source field angle of the light source module, wherein the light source field angle is greater than 80 °.

In some embodiments, one side surface of the diffractive optical element is specially designed to change the emission angle of the emission beam such that the light source field angle is greater than 80 °.

In another aspect, the present invention further provides a wide-angle TOF module, comprising:

a light sensing control module; and

at least one light source module, wherein the light source module is disposed adjacent to the light sensing control module, wherein the light source module further comprises a light emitter and at least one diffusion element held in a light path of the light emitter, wherein the diffusion element increases a light source viewing angle of the light source module by diffusing light generated by the light emitter.

According to one embodiment of the invention, the wide angle TOF module further comprises at least one diffractive optical element, wherein the diffractive optical element is held in the ray path of the light emitter and the diffractive optical element is held between the light emitter and the diffusing element.

According to one embodiment of the invention, the wide angle TOF module further comprises at least one diffractive optical element, wherein the diffractive optical element is held in the ray path of the light emitter and the diffusing element is held between the light emitter and the diffractive optical element.

According to one embodiment of the invention, the diffusing element is a convex lens.

According to one embodiment of the invention, the area of the diffusing element is greater than or equal to the light emitting area of the light emitter.

According to an embodiment of the invention, the central axis of the diffusing element and the central axis of the light emitter coincide.

a light sensing control module;

a first light source module; and

and the first light source module and the second light source module are respectively and adjacently arranged on the photosensitive control module, and an included angle is formed between the central axis of the first light source module and the central axis of the second light source module.

According to an embodiment of the present invention, at least one of the first light source module and the second light source module is obliquely disposed with respect to the light sensing control module.

According to an embodiment of the present invention, the first light source module and the second light source module are each disposed obliquely with respect to the light sensing control module.

According to an embodiment of the present invention, the first light source module and the second light source module are disposed symmetrically to each other.

According to an embodiment of the present invention, the wide angle TOF module further comprises a first transition element and a second transition element, wherein the first transition element and the second transition element are both obliquely and adjacently disposed, wherein the first light source module is disposed at the first transition element and the second light source module is disposed at the second transition element.

According to an embodiment of the present invention, the wide-angle TOF module further comprises a transition element, wherein the transition element has two inclined mounting surfaces, wherein the first light source module and the second light source module are respectively arranged on each of the mounting surfaces of the transition element.

According to an embodiment of the present invention, the wide angle TOF module further comprises a circuit board, wherein the circuit board has a light source module assembly area and a light sensing control module assembly area, wherein the light source module is disposed in the light source module assembly area of the circuit board, and the light sensing control module is disposed in the light sensing control module assembly area of the circuit board.

According to one embodiment of the invention, the light sensing control module includes a TOF light intensity sensor and a lens maintained in a light sensing path of the TOF light intensity sensor.

According to another aspect of the present invention, there is further provided a light source module applied to a wide-angle TOF module, wherein the light source module comprises:

a light emitter; and

at least one diffusion element, wherein the diffusion element is maintained in the light path of the light emitter to increase the light source field angle of the light source module by diffusing the light generated by the light emitter.

According to an embodiment of the invention, the light source module further comprises at least one diffractive optical element, wherein the diffractive optical element is held in the ray path of the light emitter and the diffractive optical element is held between the light emitter and the diffusing element.

According to one embodiment of the invention, the diffractive optical element is held in the ray path of the light emitter and the diffusing element is held between the light emitter and the diffractive optical element.

According to another aspect of the present invention, there is further provided a method for increasing the viewing angle of a light source of a wide-angle TOF module, wherein the method for increasing the viewing angle of the light source comprises the steps of:

(a) generating light by a light emitter; and

(b) and diffusing the light rays generated by the light emitter when the light rays pass through at least one diffusion element so as to increase the light source field angle of the TOF module.

(A) radiating light rays to a first direction through a first light source module; and

(B) and a second light source module radiates light rays to a second direction different from the first direction so as to increase the light source field angle of the wide-angle TOF module.

a light sensing control module; and

at least one light source module, wherein the light source module is set up in the light sensing control module adjacently, wherein a light emitter of light source module, wherein the light emitter includes a luminous portion and a printing opacity portion, the printing opacity portion has an incident plane and an emergent curved surface, the emergent curved surface is monotonic curved surface, and the height of emergent curved surface is certainly the middle part of printing opacity portion reduces to all around in proper order, wherein the printing opacity portion with the incident plane of printing opacity portion is adorned in the mode of the light emitting area of luminous portion is set up in the light emitting area of luminous portion, thereby the printing opacity portion is when the light that the luminous portion produced passes the light that spills the luminous portion is expanded to increase light source field angle of light source module.

a light sensing control module; and

at least one light source module, wherein the light source module is adjacently disposed on the light sensing control module, wherein the light source module comprises a light emitter and at least one diffractive optical element, wherein the diffractive optical element has an incident wave surface and an exit surface, and the diffractive optical element is held in the light path of the light emitter in a manner that the incident wave surface of the diffractive optical element faces the light emitting surface of the light emitter, so that the diffractive optical element spreads the light of the light emitter when the light generated by the light emitter passes through, thereby increasing the light source viewing angle of the light source module.

Drawings

Fig. 1 is a schematic optical path diagram of a conventional TOF module of the prior art.

Fig. 2 is a diagram of a practical application of a wide-angle TOF module according to an embodiment of the invention.

FIG. 3 is a cross-sectional view of the wide-angle TOF module according to the above-described embodiments of the present invention.

Fig. 4 is a block diagram of the wide-angle TOF module according to the above embodiment of the invention.

Fig. 5 is a schematic optical path diagram of the wide-angle TOF module according to the above embodiment of the invention.

FIG. 6 is an exploded view of the wide-angle TOF module according to an embodiment of the present disclosure.

Fig. 7 is an exploded view of a light source module according to the above embodiment of the present invention.

Fig. 8 is a schematic cross-sectional view of the light source module according to the above-described embodiment of the present invention.

Fig. 9 is a schematic optical path diagram of the light source module according to the above embodiment of the present invention.

FIG. 10 is a schematic cross-sectional view of a wide-angle TOF module according to another embodiment of the present disclosure.

Fig. 11 is a schematic cross-sectional view of the light source module according to the above-described embodiment of the present invention.

FIG. 12 is a schematic cross-sectional view of a wide-angle TOF module according to another embodiment of the present disclosure.

Fig. 13 is a schematic view of a light source module according to the above-described embodiment of the present invention.

Fig. 14 is a schematic cross-sectional view of a light source module according to the above-described embodiment of the present invention.

Fig. 15 is a schematic optical path diagram of the wide-angle TOF module according to the above embodiment of the invention.

FIG. 16 is a cross-sectional schematic of a wide-angle TOF module according to another embodiment of the present disclosure.

Fig. 17 is a schematic cross-sectional view of a light source module according to the above-described embodiment of the present invention.

FIG. 18 is a schematic optical path diagram of the wide-angle TOF module according to the above-described embodiment of the present invention.

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 constructed and operated in a particular orientation and thus are not to be considered limiting.

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.

As shown in fig. 2 to 4, a wide-angle TOF module according to a preferred embodiment of the invention is disclosed and described in the following description, wherein the wide-angle TOF module comprises at least one light source module 10 for providing laser light with a predetermined wavelength and at least one light sensing control module 20, wherein the light source module 10 is capable of generating at least one emission light beam with the laser light with the predetermined wavelength, and the light sensing control module 20 is capable of receiving at least one receiving light beam transmitted by the light source module 10 and reflected by a target object, so that the wide-angle TOF module can accurately measure phase difference information between the receiving light beam and the emission light beam, and then accurately output distance information of a three-dimensional scene object of the target object by calculating and converting into a time difference. It is worth mentioning that the emission beam refers to the beam emitted by the light source module 10 and radiating to the target object surface, and the reception beam refers to the beam reflected by the target object surface and emitted by the light source module 10.

In other words, when the wide-angle TOF module is adapted to detect the target object or capture an image of the target object, the light source module 10 emits the emission beam of laser light of a predetermined wavelength to the target object, the emission beam is reflected to form the corresponding reception beam after reaching the target object, the light sensing control module 20 receives the laser light reflected by the target object and generates a sensing signal, and the wide-angle TOF module processes the sensing signal and generates corresponding raw data, in this way, the detection of the target object is completed.

As shown in fig. 5, the light source module 10 of the wide-angle TOF module generates the emission light beam with a certain light source field angle 101, the emission light beam is reflected by the target object to form the reception light beam, the light sensing control module 20 receives the reception light beam with a certain light sensing field angle 201, and the light source field angle 101 and the light sensing field angle 201 form an operating field angle of the TOF module, in other words, the operating field angle of the wide-angle TOF module is determined by the light source field angle 101 and the light sensing field angle 201.

It should be noted that, according to the working angle of view of the TOF module, the TOF module may be defined as a conventional TOF module and the wide-angle TOF module of the present invention, for example, the TOF module with the working angle of view smaller than 80 degrees may be defined as a conventional TOF module, and the TOF module with the working angle of view larger than 80 degrees may be defined as the wide-angle TOF module of the present invention. Of course, the range division of the operating field angle of the TOF module is not determined, but it may be determined that the operating field angle of the wide-angle TOF module is greater than the operating field angle of the conventional normal TOF module. In this embodiment, the working field angle of the wide-angle TOF module is greater than 80 °, so that the target object in a large angle range can be imaged by the wide-angle TOF module.

As shown in fig. 4, a wide-angle TOF module according to the present invention is illustrated, wherein the wide-angle TOF module comprises the light source module 10 and the light sensing control module 20, wherein the light sensing control module 20 comprises at least a TOF light intensity sensor 21 and a controller 22 connected to the TOF light intensity sensor 21, wherein the controller 22 comprises at least one data processing module 221, wherein the TOF light intensity sensor 21 and the data processing module 221 are electrically connectable, wherein the light source module 10 can generate laser light with a preset wavelength to the target object, the TOF light intensity sensor 21 is configured to receive the laser light reflected by the target object and generate the sensing signal, wherein the data processing module 221 is arranged to receive the sensing signal from the TOF light intensity sensor 21, wherein the data processing module 221 is configured to process the sensing signal and generate raw data. It will be appreciated that the TOF light intensity sensor 21 is arranged to receive and/or sense the target object or laser light reflected by the target object and generate corresponding raw data.

The light source module 10 and the light sensing control module 20 in this embodiment form a depth detection system for detecting the surface depth of a target object (or a target object), thereby obtaining target object depth imaging data. It can be understood that, after being reflected by a target object, the laser emitted by the light source module 10 of the wide-angle TOF module of the invention is further sensed and detected by the TOF light intensity sensor 21. Thus, each laser point data detected by the TOF light intensity sensor 21 has depth (value) information. As will be understood by those skilled in the art, the laser emitted (emitted) by the light source module 10 of the wide-angle TOF module of the present invention may be infrared light. Preferably, the laser emitted by the light source module 10 is a laser with a preset wavelength. Those skilled in the art will appreciate that the controller 22 of the TOF module of the invention can be a programmable SOC chip or include at least one programmable SOC chip.

The controller 22 of the wide-angle TOF module according to the preferred embodiment of the invention comprises a control module 222, wherein the control module 222 is configured to control the operation of the TOF light intensity sensor 21 according to a control instruction, such as a control instruction from an upper computer or a processor, that is, the TOF light intensity sensor 21 is controllably connected to the control module 222, so as to control the working state of the TOF light intensity sensor 21 through the control module 222. The control module 222 may also control the operation of the TOF light intensity sensor 21 according to a preset program. Further, the control module 222 is configured to control operations of other functional modules of the controller 22, such as controlling the data processing module 221 of the controller 22 to process the sensing signal sensed by the TOF light intensity sensor 21 to generate corresponding raw data. Further, the raw data can be further transmitted to an upper computer or a processor, wherein the upper computer can convert the raw data by combining a depth information extraction method to obtain the depth information of the target object. That is, the upper computer is communicably connected to the raw data of the target object stored in the data processing module 221 to calculate the depth information of the target object through further analysis. In addition, the control module 222 of the controller 22 is configured to correct the raw data generated by the TOF light intensity sensor 21 according to the wide angle TOF module calibration parameters.

In addition, the controller 22 of the light sensing control module 20 according to the preferred embodiment of the present invention further includes a data interface 223, so that the raw data in the controller 22 can be transmitted to an upper computer. For example, the raw data is transmitted to the upper computer through an MIPI data interface. In further embodiments, the data interface 223 may also be implemented as a wireless interface, such as a WiFi interface, a bluetooth interface, and the like. It should be understood that the type of data interface 223 is not limited in the wide angle TOF module of the present invention.

As shown in fig. 4, the light source module 10 of the TOF module according to the preferred embodiment of the invention includes a power supply 11 and a light emitter 12 electrically connected to the power supply 11 for emitting laser light, wherein the light emitter 12 emits the emitted light beam toward the target object after being supplied with electric energy. Preferably, in the preferred embodiment of the present invention, the light source module 10 is implemented as a Vertical Cavity Surface Emitting Laser (VCSEL) including the power supply 11 of a VCSEL and the light emitter 12 electrically connected to the power supply 11.

In addition, the wide-angle TOF module according to the preferred embodiment of the invention further includes a circuit board 30, wherein, preferably, the light source module 10 and the light sensing control module 20 are both disposed on the circuit board 30. That is, in the preferred embodiment of the present invention, the light source module 10 and the light sensing control module 20 are integrally disposed on the circuit board 30, which on one hand makes the wide-angle TOF module have a compact structure, and on the other hand, facilitates to improve the depth measurement accuracy of the wide-angle TOF module.

More specifically, the light emitter 12 of the light source module 10 is adjacently disposed on the circuit board 30, so that the emitting optical path formed between the light emitter 12 and the target object and the receiving optical path formed between the target object and the TOF light intensity sensor 21 are disposed as parallel and close as possible, so as to reduce errors caused by the difference between the emitting optical path and the receiving optical path, and improve the measurement accuracy of the wide-angle TOF module.

The circuit board 30 includes, but is not limited to, a rigid circuit board, a flexible circuit board, a rigid-flex board, and a ceramic board. In the preferred embodiment of the present invention, the circuit board 30 is a rigid-flex board having a light source module assembling area 31 and a light sensing control module assembling area 32, wherein the light source module 10 and the light sensing control module 20 are respectively disposed in the light source module assembling area 31 and the light sensing control assembling area 32. In other words, the light source module 10 is disposed in the light source module assembly region 31 of the wiring board 30, and the light sensing control module 20 is disposed in the light sensing control module assembly region 32 of the wiring board 30.

The light source module 10 according to the preferred embodiment of the present invention further includes a diffractive optical element 15, wherein the diffractive optical element 15 is used to change the phase and the spatial intensity of the light wave generated by the light emitter 12, so as to obtain a desired optical energy density. Those skilled in the art will understand that the modulated emitted laser has not only higher environmental interference resistance, which is beneficial to improving the measurement accuracy of the wide-angle TOF module, but also no harm to human eyes caused by the modulated emitted light wave.

In particular, in the preferred embodiment of the present invention, the diffractive optical element 15 is disposed on the upper portion of a lens holder of an illumination module, the lens holder is designed to prevent the diffractive optical element 15 from falling off, so as to prevent the laser beam emitted by the light emitter 12 from damaging human eyes, and the lens holder of the illumination module limits the laser generated by the light emitter 12 to only reach the outside through an optical window, so as to limit the emitting direction of the laser to a limited extent.

As shown in fig. 4, in an embodiment of the present invention, the wide-angle TOF module may further include a temperature sensor 40, wherein the temperature sensor 40 is capable of sensing an operating temperature of the light emitter 12 of the light source module 10, so that after the optical power of the laser light emitted from the light emitter 12 exceeds a predetermined power, the control module 222 of the controller 22 of the light sensing control module 20 is capable of reducing or even cutting off the power supply to the light emitter 12 of the light source module 10 to ensure that the laser light emitted from the light emitter 12 of the light source module 10 is within a safe range. It should be understood by those skilled in the art that the temperature sensor 40 may be built into the laser transmitter 12, and the invention is not limited in this respect.

The light source module 10 further comprises a driving circuit 17, wherein the driving circuit 17 is disposed between the power supply 11 and the light emitter 12 to control the power supply 11 to the light emitter 12, i.e. the power supply 11 and the light emitter 12 are electrically connected to the driving circuit 17, so that the power supply 11 can supply power to the light emitter 12 via the driving circuit 17. Preferably, the driving circuit 17 is in electrical communication with the control module 222 of the controller 22, so that the circuit can control the power supply 11 to the light emitter 12 according to the control instruction of the control module 222.

The light sensing control module 20 further comprises a lens 23, wherein the lens 23 comprises at least one lens, and the lens is disposed in a light sensing path of the TOF light intensity sensor 21 of the light sensing control module 20 to collect the laser light reflected by the surface of the target object through the lens.

The light sensing control module 20 further comprises a holder 24, wherein the holder 24 is configured to hold the lens 23 in place. Preferably, the lens 23 is disposed in a position fixing hole 240 formed in the holder 24 to secure the lens 23 at a predetermined position.

The light sensing control module 20 further includes a filter element 25, wherein the filter element 25 is disposed between the TOF light intensity sensor 21 and the lens 23, so as to filter stray light through the filter element 25, thereby improving the measurement accuracy of the TOF camera module. The wide angle TOF module further comprises a support, wherein the circuit board 30 is arranged on the support such that the position of the circuit board 30 is fixed. Further, the positions of the respective electronic components disposed on the circuit board 30 are also fixed to achieve a preset layout of the TOF camera module.

However, as shown in fig. 1, the working light ray diagram of the conventional TOF module is illustrated, wherein the light source module 10P emits the emission light beam with the light source field angle 101P toward the target object, and the emission light beam is controlled within a certain angle range, so that the light emission irradiation range of the light source module 10P is also limited, in other words, the emission light beam emitted by the light source module 10P can only reach a certain range, and the target object in the range can only be detected. The received light beam emitted by the target object is also received by the light sensing control module 20P at a light sensing field angle 201P, and of course, the light sensing control module 20P can only receive the target object within the range of the light sensing field angle 201P, so that the working field angle of the conventional TOF module is limited within a range.

And when the TOF module is suitable for measuring the target object moving in a large range, the working angle of view of the conventional TOF module cannot meet the requirement of the large angle of view range, so that the wide-angle TOF module is provided, and has a larger working angle of view compared with the conventional TOF module, so that the wide-angle TOF module can be suitable for scene application in the large angle of view range. Specifically, the operating field angle of the wide-angle TOF module is greater than 80 °. Preferably, the working field angle of the wide-angle TOF module may be up to 120 ° so that the target object within a larger angle range can be imaged by the wide-angle TOF module. Specifically, the wide-angle TOF module expands the operating angle of view by expanding the light source angle of view 101 of the light source module 10, and expands the photosensitive angle of view 201 of the photosensitive control module 20 correspondingly, so that the operating angle of view of the wide-angle TOF module can be expanded. It is worth mentioning that the size of the photosensitive field angle 201 is not smaller than the size of the light source field angle 101.

As shown in fig. 5, the light source field angle 101 of the light source module 10 is larger than the light source field angle 101P, so that the irradiation range of the emission light beam of the light source module 10 becomes large, that is, the range in which the emission light beam of the light source module 10 can reach the target object becomes large. At this time, the photosensitive control module 20 is custom designed as a large field angle lens module, so that the photosensitive field angle 201 of the photosensitive control module 20 can be specifically increased. Referring to fig. 5, let the parameter of the light source viewing angle 101 be α 1, and let the parameter of the photosensitive viewing angle 201 be α 2, where the parameter α 2 is greater than or equal to the parameter α 1, that is, the photosensitive viewing angle 201 is greater than or equal to the light source viewing angle 101.

In an embodiment of the invention, the light source field angle 101 and the photosensitive field angle 201 become larger simultaneously, so as to expand the working field angle of the wide-angle TOF module, which is greater than 80 degrees, so that the wide-angle TOF module is applied to large-field-angle scenes like gesture interaction, position tracking and SLAM. The photosensitive field angle 201 of the photosensitive control module 20 of the wide-angle TOF module of the present invention can be changed by custom design, and specifically, the position or type of the lens can be changed to change the photosensitive field angle 201. In addition, the light source view angle 101 of the light source module 10 of the wide-angle TOF module of the invention is larger than the light source view angle 101P of the conventional TOF module, and the light source view angle 101 of the light source module 10 of the invention can be changed in various ways. In the embodiment of the present invention, the change of the light source field angle 101 will be described with emphasis, and correspondingly, the photosensitive field angle 201 of the photosensitive control module 20 is changed by custom design.

Specifically, the light sensing control module 20 of the wide-angle TOF module also has a large light sensing field angle 201, wherein the light sensing field angle 201 is greater than 80 °. The size of the photosensitive field angle 201 of the photosensitive control module 20 can be achieved by adjusting the position or type of the lens of the photosensitive control module 20, for example, the photosensitive control module 20 can be implemented as a "retrofocus" optical path structure, that is, the lens is implemented as an asymmetric optical path structure, and the lens is selected as an aspheric structure. For another example, the distance of the photosensitive control module 20 is adjusted by adjusting the position between the lenses to expand the photosensitive field angle 201. The present invention is not limited in how the photosensitive control module 20 expands the photosensitive field angle 201, and those skilled in the art will appreciate that the present invention is not limited in this respect. How the light source field angle 101 of the light source module 10 becomes larger will be mainly described below, and it should be noted that the photosensitive field angle 201 of the photosensitive control module 20 is also customized to be increased accordingly.

As shown in fig. 6 to 8, in an embodiment of the present invention, the manner of increasing the light source field angle 101 of the wide-angle TOF module is implemented by adding at least one diffusing element 16 to the light source module 10, so as to implement that the light source field angle 101 is greater than 80 °. Specifically, the light source module 10 includes the diffusing element 16, wherein the diffusing element 16 is implemented as an optical element to change the optical path direction of the emitted light beam, referring to fig. 9, so as to enlarge the light source field angle 101 of the light source module 10.

In an embodiment of the present invention, the diffusing element 16 is implemented with a beam expander 161, and the beam expander not only expands the diameter of the emitted light beam, but also reduces the divergence angle of the emitted light beam, so that the emitted light beam passing through the beam expander 161 is changed in the propagation direction of the light path, so that the emitted light beams are emitted in the directions farther away from each other, thereby expanding the light source field angle 101 of the light source module 10. It is noted that the beam expander 161 is implemented as a convex lens type, and the distance of the beam expander 161 from the light emitter 12 is custom designed according to actual situations.

Specifically, the light emitter 12 and the power supply 11 are disposed on the circuit board 30, wherein the power supply 11 can provide energy support for the light emitter 12, in other words, the power supply 11 ensures that the light emitter 12 has enough energy to emit the emitted light beam outwards, wherein the light emitter 12 is disposed on the circuit board 30 to achieve a communication connection with the circuit board 30, and the light emitter 12 can be controlled by the circuit board 30 to emit the emitted light beam towards the target object and transmit at least one photoelectric information to the circuit board 30.

In an embodiment of the present invention, the diffusion element 16 is disposed in the optical path of the light emitter 12, in other words, the diffusion element 16 is disposed in the emission direction of the emitted light beam of the light emitter 12 and is spaced apart from the light emitter 12 by a certain distance. So that the emission light beam emitted from the light emitter 12 can be re-emitted outward through the diffusion member 16, the optical path propagation direction of the emission light beam reaching the diffusion member 16 is changed to cause the emission light beam to diffuse toward a larger range, thereby expanding the light source angle of view 101 formed by the emission light beam.

It should be noted that, in an embodiment of the present invention, the central axis of the diffusing element 16 coincides with the optical path of the light emitter 12, so that the emitted light beam emitted by the light emitter 12 is symmetrically diffused toward the periphery, which facilitates the processing of the light source module 10 and improves the accuracy of the light source viewing angle 101. Of course, in an embodiment of the present invention, the size of the diffusion element 16 is not smaller than the light emitting area of the light emitter 12, so that the emitted light beam emitted from the light emitter 12 can completely reach the diffusion element 16 to be diffused, thereby improving the light beam diffusion efficiency of the diffusion element 16.

In an embodiment of the present invention, the diffractive optical element 15 is also disposed in the optical path of the light emitter 12, wherein the diffractive optical element 15 is configured to change the phase and the spatial intensity of the light wave generated by the light emitter 12 to obtain a desired optical energy density. Those skilled in the art should understand that the modulated emitted laser has a higher environmental interference resistance, which is beneficial to improving the measurement accuracy of the TOF camera module, and the modulated emitted light wave greatly reduces the damage to human eyes, thereby satisfying the safety standard of human eye laser. In other words, the diffractive optical element 15 is adapted to modulate the emission beam such that the emission beam detects the target object in a more suitable way.

It should be noted that, in the embodiment of the present invention, the diffusion element 16 is only required to be disposed in the optical path of the light emitter 12, and the specific position of the diffusion element 16 has no influence on the present invention. When the light source module 10 includes the diffractive optical element 15, the diffusing element 16 is disposed between the diffractive optical element 15 and the light emitter 12, and in this case, the emission light beam emitted from the light emitter 12 is diffused by the diffusing element 16, then modulated by the diffractive optical element 15, and emitted to the target object. Alternatively, the diffusing element 16 is disposed outside the diffractive optical element 15, and referring to fig. 9, the diffractive optical element 15 is disposed between the diffusing element 16 and the light emitter 12, in which case the emission light beam emitted from the light emitter 12 is modulated by the diffractive optical element 15 and then diffused by the diffusing element 16. Still alternatively, the diffusing element 16 and the diffractive optical element 15 together constitute a diffractive diffusing optical element for simultaneously modulating and diffusing the emitted light beam, and the invention is not limited in this respect. In another example of the wide-angle TOF module of the present invention, the diffractive optical element 15 and the diffusing element 16 may also be a unitary diffractive diffusing optical element.

In addition, the light source field angle 101 of the light source module 10 is determined by the light emitter 12 and the diffusing element 16, and the position and type change of the diffusing element 16 may affect the light source field angle 101 of the light source module 10, that is, the light source field angle 101 of the light source module 10 may be changed by changing the type of the diffusing element 16.

As shown in fig. 9, the emission light beam emitted from the light emitter 12 has a larger light source field angle 101 after being diffused by the diffusion element 16, in other words, the diffusion element 16 changes the propagation direction of the emission light beam to increase the light source field angle 101 of the light source module 10, so that the light source field angle 101 is greater than 80 °, and even the light source field angle 101 reaches 120 °.

In addition, in another embodiment of the present invention, the TOF module includes at least two light source modules 10B, and the light source modules 10B are disposed on the circuit board 30B in a relatively inclined manner, so that at least two light emitters 12B are disposed on the circuit board 30B in a relatively inclined manner. The emission beam of each of the light emitters 12B is unchanged, and the emission beams of the two light emitters 12B jointly enlarge the light source field angle of the light source module 10B, so that the light source field angle is greater than 80 °.

As shown in fig. 10, the TOF module includes at least two light source modules 10B, in an embodiment of the invention, the wide-angle TOF module includes two light source modules 10B, one of the light source modules 10B is defined as a first light source module 10B1, the other light source module 10B is defined as a second light source module 10B2, the first light source module 10B1 is obliquely arranged on the circuit board 30B at a first inclination angle β 1, the second light source module 10B2 is obliquely arranged on the circuit board 30B at a second inclination angle β 2, such that an included angle between the first light source module 10B1 and the second light source module 10B2 forms a relatively oblique angle, an included angle between the emission beam emitted from the first light source module 10B1 and the emission beam emitted from the second light source module 10B2 forms the light source field angle 101B of the TOF module, so that the light source field angle is greater than 80 deg., and even the light source field angle 101B reaches 120 deg..

It should be noted that the first inclination angle β 1 of the first light source module 10B1 and the second inclination angle β 2 of the second light source module 10B2 may be the same or different, and the wide-angle TOF module of the invention is not limited in this respect. Preferably, the first inclination angle β 1 of the first light source module 10B1 and the second inclination angle β 2 of the second light source module 10B2 are identical.

In an embodiment of the invention, the first light source module 10B1 and the second light source module 10B2 may be selected as identical light source modules, or may be selected as different types of light source modules, and the invention is not limited in this respect. The first light source module 10B1 and the second light source module 10B2 will be described below as examples.

The first light source module 10B1 includes the power supply 11 and the first light emitter 12B1 electrically connected to the power supply 11, and the metal shield, wherein the power supply 11 provides power support for the first light emitter 12B1, and the first light emitter 12B1 is disposed on the metal shield to be supported and protected. The first light source module 10B1 may further include the diffractive optical element disposed to modulate the emission beam of the first light emitter 12B 1. Similarly, the second light source module 10B2 has a similar or identical structure to the first light source module 10B1, and a description thereof will not be repeated.

The first light emitter 12B1 emits the first emitted light beam outwardly, with the first light emitter 12B1 being a plane, symmetrically emitted perpendicularly to the plane. At this time, since the first light emitter 12B1 is inclined to the wiring board 30B at the first inclination angle, the symmetry axis of the first emitted light beam is also inclined to the wiring board 30B. Similarly, the symmetry axis of the second emission light beam emitted outward from the second light emitter 12B2 is also inclined to the wiring board 30B. And the light source field angle of the TOF module is formed between the side light of the first emission light beam and the side light of the second emission light beam.

The first light source module 10B1 and the second light source module 10B2 may be obliquely disposed on the circuit board 30B at any angle and in any direction, and the light source view angle of the TOF module is determined by the first light source module 10B1 and the second light source module 10B2, so that the light source view angle of the TOF module can be changed by changing the positions where the first light source module 10B1 and the second light source module 10B2 are disposed.

In an embodiment of the invention, the first light source module 10B1 is disposed obliquely to the second light source module 10B2 toward the left side of the TOF module, and the second light source module 10B2 is disposed obliquely to the first light source module 10B1 toward the right side of the TOF module, so that the TOF module has a larger light source field angle 101. It should be noted that the first light source module 10B1 and the second light source module 10B2 are disposed on the same plane, so that the TOF module can detect the detection range of the same range.

In addition, in an embodiment of the invention, at least one transition element 35B is disposed on the circuit board 30B at a position corresponding to each light source module 10B, wherein the transition element 35B is disposed on the circuit board 30B, the transition element 35B forms a certain inclination angle with the circuit board 30B, and the light source module 10B is disposed on the transition element 35B so as to maintain the inclination arrangement with the circuit board 30B. Specifically, in this particular example of the wide-angle TOF module shown in fig. 10 and 11, the number of the transition elements 35B is two, wherein one of the transition elements 35B is defined as a first transition element 351B1, and the other transition element 35B is defined as a second transition element 351B2, wherein the first transition element 351B1 is disposed on the circuit board 30B, wherein the first transition element 351B1 forms the first inclination angle β 1 with the circuit board 30B, and the second transition element 351B2 is disposed on the circuit board 30B, wherein the second transition element 351B2 forms the second inclination angle β 2 with the circuit board 30B. At this time, the first light source module 10B1 is disposed on the first transition element 351B1 to form the first inclination angle β 1 with the circuit board 30B, and the second light source module 10B2 is disposed on the second transition element 351B2 to form the second inclination angle β 2 with the circuit board 30B. In another example of the wide-angle TOF module of the present invention, the transition element 35B may be one, and the transition element 35B has two inclined mounting surfaces to be respectively used for disposing the first light source module 10B1 and the second light source module 10B 2.

In an embodiment of the invention, the transition element 35B is configured to connect the light source module 10B and the circuit board 30B, that is, the transition element 35B is implemented as a conducting element, and when the light source module 10B is disposed on the transition element 35B, the light source module 10B can be communicatively connected with the circuit board 30B through the transition element 35B.

In another embodiment of the present invention, the transition element 35B is non-conductively disposed on the circuit board 30B, and in this case, the TOF module further includes at least one conductive element, wherein the conductive element connects the light source module 10B and the circuit board 30B, and specifically, the conductive element connects the light emitter 12B and the circuit board 30B, so that the light emitter 12B and the circuit board 30B are communicatively connected. In this embodiment, the conductive element may be implemented as a conductive wire such as a gold wire.

Of course, the transition element 35B can also be directly implemented as the light source module 10B or the circuit board 30B, that is, in an embodiment of the invention, the light source module 10B is designed such that when the light source module 10B is disposed on the circuit board 30B, the light emitter forms an inclined angle with the circuit board 30B due to the shape characteristics of the light source module 10B. In another embodiment of the present invention, the circuit board 30B may be directly provided with an inclined groove or an inclined protrusion, so that the light emitter forms the inclined angle with the circuit board 30B when the light source module 10B is disposed on the circuit board 30B.

It is noted that, whether the light source module includes at least two light emitters 12 or the TOF module includes at least two light source modules 10B, the TOF module expands the light source field angle of the TOF module by tilting the light emitters relative to a specific angle. First illuminator 12B1 for the first emitting light beam of circuit board 30 slope transmission, second illuminator 12B2 for the second light beam of circuit board 30 slope transmission, the avris light of first light beam with the avris light of second light beam forms the light source field of view angle, wherein the avris light of first light beam with the avris light distance of second light beam is farthest.

In another embodiment of the present invention, referring to fig. 12 to 15, the wide-angle TOF module expands the light source field angle of the wide-angle TOF module by changing the type of the light emitter 12C, in other words, the wide-angle TOF module changes the light emitter 12C such that the included angle of the emission light beam emitted by the light emitter 12C itself becomes larger, and expands the light source field angle of the TOF module such that the light source field angle 101C is larger than 80 °.

Specifically, the type of light emitter 12C of the wide angle TOF module is different from a normal field angle light emitter, in embodiments of the invention, the light emitter 12C is implemented as an LED illumination source, in conventional TOF modules the light emitter 12 is implemented as a Vertical Cavity Surface Emitter (VCSEL), and in embodiments, the light emitter 12C is implemented as an LED illumination source.

It is noted that, unlike a Vertical Cavity Surface Emitter (VCSEL), the emitted light beam of the VCSEL has a normal field angle, and when the light emitter 12C is implemented as an LED illumination source, the field angle of the light emitter 12C is larger than that of the VCSEL, and in addition, the size of the light source field angle of the light source module 10C can be changed by changing the type of the light emitter 12C.

As shown in FIG. 15, the LED illumination source 12C has a larger field of view than the VCSEL, thereby also providing a larger source field of view for the emitted light beam from the LED illumination source 12C.

As above, the light emitter 12C is in communication with the power supply 11 and is disposed on the circuit board 30C, wherein the power supply 11 can provide energy support for the light emitter 12C, in other words, the power supply 11 ensures that the light emitter 12C has enough energy to emit the emitted light beam outwards, wherein the light emitter 12C is disposed on the circuit board 30C to achieve communication connection with the circuit board 30C, and the light emitter 12C can be controlled by the circuit board 30C to emit the emitted light beam towards the target object and transmit at least one photoelectric message to the circuit board 30C.

In contrast, the light emitter 12C has a large light beam range of the emitted light beam, so that the light source field angle of the light source module 10C is increased, and the light path diagram of the light source module 10C is shown in fig. 15.

Further, the light emitter 12C includes a light emitting portion 121C and a light transmissive portion 122C, wherein the light emitting portion 121C is electrically connected to the power supply 11C to enable the light emitting portion 121C to generate light after being supplied with power by the power supply 11C, and wherein the light transmissive portion 122C is held in a light path of the light emitting portion 121C to change a radiation direction of the light generated by the light emitting portion 121C when the light passes through the light transmissive portion 122C. Preferably, the light-transmitting portion 122C has an incident plane 1221C and an exit curved surface 1222C, wherein the incident plane 1221C of the light-transmitting portion 122C faces the light-emitting portion 121C to allow the light generated by the light-emitting portion 121C to enter the light-transmitting portion 122C from the incident plane 1221C of the light-transmitting portion 122C and to exit from the exit curved surface 1222C. More preferably, the incident plane 1221C of the translucent portion 122C is attached to the light emitting surface of the light emitting portion 121C, the curved emission surface 1221C is a monotone curved surface and a central portion of the curved emission surface 1221C is raised, and the central axis of the light emitting portion 121C coincides with the central axis of the translucent portion 122C, that is, the central axis of the light emitting portion 121C passes through the central portion of the translucent portion 122C to be raised, so that the height dimension of the curved emission surface 1221C of the translucent portion 122C is sequentially increased from the center to the periphery of the translucent portion 122C, and thus, the light generated by the light emitting portion 121C can be expanded when propagating through the translucent portion 122C to increase the light source view angle 101C.

Referring to fig. 16 to 18, in another embodiment of the present invention, the wide-angle TOF module expands the light source field angle of the wide-angle TOF module by changing the type of the diffractive optical element 15D, in other words, the wide-angle TOF module changes the diffractive optical element 15D such that when the emission light beam emitted outward from the light emitter 12D reaches the diffractive optical element 15D, the diffractive optical element 15D expands the angle of the emission light beam, and expands the light source field angle of the TOF module.

Specifically, the diffractive optical element 15D is designed with a regular specification on one side surface, and tens of thousands of pits are etched on the side surface for the purpose of leveling and widening the angle of view, wherein the etching of the pits on the side surface can be obtained according to the experimental design, and changing the design of the pits on the side surface can change the angle of view of the light source module 10D, so that the angle of view 101 of the light source is greater than 80 ° and even up to 120 °.

Further, the light source module 10 further includes the diffractive optical element 15D (doe), wherein the diffractive optical element 15D is configured to change the phase and the spatial intensity of the light wave generated by the light emitter 12D and change the angle of the emitted light beam, so as to expand the light source field angle of the light source module 10D. That is, the emitted light beam emitted from the light emitter 12D is modulated, it should be understood by those skilled in the art that the modulated emitted laser has higher environmental interference resistance, which is beneficial to improving the measurement accuracy of the TOF camera module, and the modulated emitted light wave greatly reduces the damage to human eyes, thereby meeting the laser safety standard of human eyes.

Specifically, the diffractive optical element 15D has an incident wavy surface 151D and an exit surface 152D, wherein the diffractive optical element 15D is held in the light path of the light emitter 12D in such a manner that the incident wavy surface 151D of the diffractive optical element 15D faces the light emitting surface of the light emitter 12D, so that the light generated by the light emitting section 12D can enter the diffractive optical element 15D from the incident wavy surface 151D of the diffractive optical element 15D and exit the diffractive optical element 15D from the exit surface 152D of the diffractive optical element 15D. The diffractive optical element 15D can enlarge the light source field angle 101D by providing the incident wavy surface 151D. It is worth mentioning that the type of the exit surface 152D of the diffractive optical element 15D is not limited in the wide-angle TOF module of the present invention, for example, the exit surface 152D of the diffractive optical element 15D may be an exit plane.

It is further noted that the incident wavy surface 15D of the diffractive optical element 15D of the wide-angle TOF module of the present invention means that the incident surface of the diffractive optical element 15D is wavy when viewed from the cross-sectional view of the diffractive optical element 15D, refer to fig. 17 and 18.

In summary, the present invention provides the wide-angle TOF module, wherein the wide-angle TOF module has a larger field angle 101 of the light source than a conventional TOF module, so that the wide-angle TOF module has a larger working field angle, and is suitable for being applied to a large-field-angle scene. In an embodiment of the present invention, at least one diffusion element 16 is disposed in an optical path of the light emitter 12 of the light source module 10 to expand an angle of the emitted light beam, so as to expand the light source field angle 101. In an embodiment of the present invention, at least two light emitters 12 are disposed on the light source module 1, wherein the light emitters 12 are inclined relative to each other, so as to enlarge the light source viewing angle 101. In an embodiment of the present invention, the type of the light emitter 12 is changed to change the angle of the emitted light beam, so as to expand the field angle 101 of the light source. In an embodiment of the present invention, at least one diffractive optical element 15 is customized in the light source module 12, wherein the diffractive optical element 15 adjusts and changes the emission beam of the light emitter 12 to expand the light source field angle 101. Of course, it should be understood by those skilled in the art that the light source viewing angle 101 of the light source module 10 can be changed in other ways, and the present invention is only by way of example.

Furthermore, those skilled in the art will appreciate that the embodiments of the present invention described above and illustrated in the accompanying drawings are 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

1. The utility model provides a wide angle TOF module of making a video recording which characterized in that includes:

a light sensing control module; and

at least one light source module disposed adjacent to the light-sensing control module, wherein the optical module includes a light emitter, the light emitter includes a light-emitting portion and a light-transmitting portion, the light-transmitting portion is held in a light path of the light-emitting portion, the light-transmitting portion has an incident plane and an exit curved surface, light generated by the light-emitting portion is diffused in the exit curved surface to increase a light source viewing angle of the optical module, and the light source viewing angle is greater than 80 °.

2. The wide-angle TOF camera module of claim 1, wherein the emitting surface has a raised middle portion, and the height of the curved emitting surface decreases from the middle portion of the light-transmissive portion to the periphery thereof in order.

3. The wide-angle TOF camera module of claim 1, wherein the light-transmissive portion is provided on a light-emitting surface of the light-emitting portion such that the incident plane of the light-transmissive portion is attached to the light-emitting surface of the light-emitting portion.

4. The wide-angle TOF camera module of claim 1, wherein a central axis of the light emitting portion coincides with a central axis of the light transmitting portion.

5. A wide angle TOF module of making a video recording, its characterized in that includes:

a light sensing control module; and

at least one light source module disposed adjacent to the light sensing control module, wherein the light source module includes a light emitter and at least one diffractive optical element, the diffractive optical element has an incident wavy surface and an exit surface, the diffractive optical element is maintained in a light path of the light emitter in such a manner that the incident wavy surface of the diffractive optical element faces a light emitting surface of the light emitter, so that the diffractive optical element diffuses and modulates light of the light emitter when the light generated by the light emitter passes through to increase a light source field angle of the light source module, and the light source field angle is greater than 80 °.

6. The wide-angle TOF camera module of claim 5, wherein the entrance face of the diffractive optical element is etched with a plurality of pits to form the incident wavy surface, the incident wavy surface configured to homogenize and diffuse light rays generated by the light emitter as they pass through the incident wavy surface.