CN116027614A

CN116027614A - Speckle projector and structured light depth camera

Info

Publication number: CN116027614A
Application number: CN202211741073.7A
Authority: CN
Inventors: 成纯森; 吴坚; 户磊
Original assignee: Beijing Lumingshi Technology Co ltd
Current assignee: Beijing Lumingshi Technology Co ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-04-28

Abstract

The embodiment of the application relates to the technical field of machine vision and discloses a speckle projector and a structured light depth camera, wherein the speckle projector comprises: the device comprises a shell, a first VCSEL, a second VCSEL, a collimating lens and a DOE, wherein the collimating lens focuses relative to the second VCSEL, and the collimating lens is out of focus relative to the first VCSEL; after a first light beam emitted by the first VCSEL passes through the collimating mirror and the DOE, floodlight is projected to the outside; the second light beam emitted by the second VCSEL is projected to the outside through the collimating mirror and the DOE, and the speckle projector is used for starting the first VCSEL and closing the second VCSEL under the condition of receiving the first control signal and also used for starting the second VCSEL and closing the first VCSEL under the condition of receiving the second control signal, so that the speckle projector has both the dot matrix projection capability and the floodlight projection capability on the premise of not increasing the volume, the cost and the power consumption.

Description

Speckle projector and structured light depth camera

Technical Field

The embodiment of the application relates to the technical field of machine vision, in particular to a speckle projector and a structured light depth camera.

Background

The depth camera can acquire depth information of a target object in real time, provides technical support for complex application scenes such as motion capture recognition, face recognition, three-dimensional modeling in the automatic driving field, cruising and obstacle avoidance, part scanning detection sorting in the industrial field, monitoring in the security field, people counting and the like, has wide consumption level and industrial level application requirements, and mainly comprises three types of structured light depth cameras, depth cameras based on a time flight method and binocular three-dimensional depth cameras, wherein the structured light depth cameras are widely applied by virtue of the advantages of mature technology and low cost.

The main body of the structured light depth camera consists of a speckle projector and an infrared lens, wherein the speckle projector is responsible for projecting speckle patterns to a target scene, and the infrared lens is responsible for shooting infrared images and speckle images, so that depth recovery is carried out, and a depth image of the target scene is obtained. When the infrared image is shot, the situation of insufficient light is likely to be encountered, and the shot infrared image is poor in quality, so that an infrared light source can be carried on the structured light depth camera to supplement light, and the size and cost of the structured light depth camera are obviously increased.

The main body of the speckle projector consists of a vertical cavity surface emitting laser (Vertical Cavity Surface Emitting Laser, VCSEL for short), a collimating mirror and a diffraction optical element (Diffractive Optical Elements, DOE for short), and in the focusing state, laser emitted by the VCSEL is collimated by the collimating mirror and is projected after being diffracted and copied by the DOE, so that a speckle pattern projected by a dot matrix can be formed, and if the spatial position of the collimating mirror is moved, the speckle projector can be defocused, and at the moment, the speckle projector becomes a surface light source for floodlight projection and can also supplement light for an infrared lens.

Therefore, the driving motors are arranged at the two ends of the collimating mirror in the industry, the current drives the collimating mirror to move up and down, the speckle projector performs lattice projection in a focusing state, and the speckle projector performs floodlight projection in a defocusing state, but the existence of the driving motors can increase the volume of the speckle projector, increase the cost of the speckle projector, be unfavorable for miniaturization of the speckle projector, and increase the power consumption of the speckle projector due to current driving.

Disclosure of Invention

An object of the embodiment of the application is to provide a speckle projector and a structured light depth camera, which enable the speckle projector to have both lattice projection capability and floodlight projection capability on the premise of not increasing the volume, cost and power consumption of the speckle projector, and simultaneously shift a collimating mirror and a DOE out of a heat transfer path of a VCSEL, so that the service life of the speckle projector is prolonged.

To solve the above technical problem, embodiments of the present application provide a speckle projector, including: a housing, a first VCSEL, a second VCSEL, a collimating mirror located above the first VCSEL and the second VCSEL, and a DOE located above the collimating mirror, the collimating mirror being in focus with respect to the second VCSEL, the collimating mirror being out of focus with respect to the first VCSEL; after the first light beam emitted by the first VCSEL passes through the collimating mirror and the DOE, floodlight is projected to the outside; and the speckle projector is used for starting the first VCSEL and closing the second VCSEL under the condition of receiving a first control signal, and is also used for starting the second VCSEL and closing the first VCSEL under the condition of receiving a second control signal.

Embodiments of the present application also provide a speckle projector, the speckle projector comprising: a housing, a first VCSEL, a second VCSEL, an integrated optical element located over the first VCSEL and the second VCSEL, the integrated optical element integrating a collimating mirror and a DOE, the integrated optical element being in focus with respect to the second VCSEL, the integrated optical element being out of focus with respect to the first VCSEL; after the first light beam emitted by the first VCSEL passes through the integrated optical element, floodlight is projected to the outside; the second light beam emitted by the second VCSEL is projected to the outside through the lattice after passing through the integrated optical element, and the speckle projector is used for starting the first VCSEL and closing the second VCSEL under the condition of receiving a first control signal and is also used for starting the second VCSEL and closing the first VCSEL under the condition of receiving a second control signal.

The embodiment of the application also provides a structured light depth camera, which comprises an infrared lens, the speckle projector and a control module; the speckle projector comprises a first VCSEL and a second VCSEL, and the control module is connected with the speckle projector; the control module is used for sending a first control signal and/or a second control signal to the speckle projector; the speckle projector is used for turning on the first VCSEL and turning off the second VCSEL when receiving a first control signal, and is also used for turning on the second VCSEL and turning off the first VCSEL when receiving a second control signal.

The speckle projector comprises a shell, a first VCSEL, a second VCSEL, a collimating mirror and a DOE, wherein the collimating mirror is positioned above the first VCSEL and the second VCSEL, the DOE is positioned above the collimating mirror, the collimating mirror focuses relative to the second VCSEL, the collimating mirror is defocused relative to the first VCSEL, and after the first light beam emitted by the first VCSEL passes through the collimating mirror and the DOE, floodlight is projected to the outside; after the second light beam emitted by the second VCSEL passes through the collimating mirror and the DOE, the lattice is projected to the outside, the speckle projector starts the first VCSEL and closes the second VCSEL under the condition of receiving the first control signal, and starts the second VCSEL and closes the first VCSEL under the condition of receiving the second control signal. On the premise of not increasing the volume, cost and power consumption of the speckle projector, the speckle projector has both lattice projection capability and floodlight projection capability, motor equipment is not needed, and heat transfer caused by motor heat dissipation is avoided.

In addition, the speckle projector further comprises a reflective assembly that forms a periscope optical path relative to the first VCSEL and the second VCSEL; the first light beam emitted by the first VCSEL is floodlight projected to the outside after passing through the reflecting component, the collimating mirror and the DOE; and the second light beam emitted by the second VCSEL is projected to the outside through the reflecting component, the collimating mirror and the DOE. Because the existence of the periscope light path, the focal length of the collimating mirror is folded, the thickness of the speckle projector is effectively reduced, and the existence of the periscope light path also enables the collimating mirror and the DOE not to be on the heat transfer paths of the two VCSELs, so that the service life of the speckle projector is prolonged.

In addition, the reflection component comprises a first reflection mirror and a second reflection mirror, the first reflection mirror and the second reflection mirror form a periscope light path, the first VCSEL and the second VCSEL are arranged on a first inner surface of the shell, the first reflection mirror is arranged on a second inner surface of the shell, the second reflection mirror is arranged on a third inner surface of the shell, the collimating mirror is arranged above the first inner surface and is parallel to the first inner surface, the DOE is arranged above the collimating mirror and is parallel to the collimating mirror, a preset height difference exists between the first VCSEL and the second VCSEL, the second inner surface is adjacent to the first inner surface and forms a preset angle, the third inner surface is parallel to the second inner surface, and the focus of the collimating mirror is on the light emitting surface of the second VCSEL.

In addition, after the first light beam emitted by the first VCSEL passes through the reflection assembly, the collimator lens and the DOE, flood light is projected to the outside, which specifically includes: the first VCSEL emits the first light beam towards the first mirror; the first mirror reflects the first light beam to the second mirror; the second reflecting mirror reflects the first light beam to the collimating mirror; the collimating mirror collimates the first light beam and propagates the collimated first light beam to the DOE; the optical path of the first light beam transmitted to the collimating mirror through the first reflecting mirror and the second reflecting mirror is not equal to the focal length of the collimating mirror; the DOE diffracts and replicates the collimated first light beam and projects the first light beam to the outside. Because the focus of the collimating mirror is on the light-emitting surface of the second VCSEL, and the height difference exists between the first VCSEL and the second VCSEL, the optical path of the first light beam transmitted to the collimating mirror is naturally unequal to the focal length of the collimating mirror, the focusing between the collimating mirror and the first VCSEL is lost, and scattered spots emitted by the first VCSEL after passing through the first reflecting mirror, the second reflecting mirror, the collimating mirror and the DOE are mutually fused, so that the surface light source form is presented, namely floodlight projection.

In addition, after the second light beam emitted by the second VCSEL passes through the reflection component, the collimator lens and the DOE, the lattice is projected to the outside, which specifically includes: the second VCSEL emits a second beam of light toward the first mirror; the first mirror reflects the second light beam to the second mirror; the second reflecting mirror reflects the second light beam to the collimating mirror; the collimating mirror collimates the second light beam and propagates the collimated second light beam to the DOE; the optical path of the second light beam transmitted to the collimating mirror through the first reflecting mirror and the second reflecting mirror is equal to the focal length of the collimating mirror; the DOE diffracts and replicates the collimated second beam and projects the second beam to the outside. Because the focal point of the collimating mirror is on the light emitting surface of the second VCSEL, the optical path of the second light beam transmitted to the collimating mirror is naturally equal to the focal length of the collimating mirror, the second light beam is focused between the collimating mirror and the second VCSEL, and scattered spots projected by the second VCSEL after passing through the first reflecting mirror, the second reflecting mirror, the collimating mirror and the DOE are independent and distinguishable, so that lattice projection is performed.

In addition, the positions of the light outlet points on the first VCSEL are regularly arranged, and the positions of the light outlet points on the second VCSEL are randomly arranged. The positions of the light outlet points on the first VCSEL are regularly arranged, so that the speckle projector can better and more uniformly perform floodlight light.

In addition, the first VCSEL is taller than the second VCSEL, or the first VCSEL is shorter than the second VCSEL.

In addition, the preset height difference is millimeter, and the preset angle is 45 degrees.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings.

FIG. 1 is a schematic diagram of a conventional speckle projector;

FIG. 2 is a schematic diagram of a speckle projector incorporating a drive motor;

FIG. 3 is a schematic diagram of a speckle projector according to one embodiment of the present application;

FIG. 4 is a schematic diagram II of a speckle projector according to another embodiment of the present application;

FIG. 5 is a schematic illustration of an arrangement of light exit points of a first VCSEL provided in an embodiment of the present application;

FIG. 6 is a schematic diagram of an arrangement of light exit points of a second VCSEL provided in an embodiment of the present application;

FIG. 7 is a schematic illustration of a flood projection provided in one embodiment of the present application;

FIG. 8 is a schematic illustration of a lattice projection provided in one embodiment of the present application;

FIG. 9 is a schematic diagram III of a speckle projector provided by another embodiment of the present application;

FIG. 10 is a schematic diagram of a speckle projector according to another embodiment of the present application;

fig. 11 is a schematic structural diagram of a structured light depth camera according to another embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the embodiments of the present application will be described in detail below with reference to the accompanying drawings. However, as will be appreciated by those of ordinary skill in the art, in the various embodiments of the present application, numerous technical details have been set forth in order to provide a better understanding of the present application. However, the technical solutions claimed in the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not be construed as limiting the specific implementation of the present application, and the embodiments may be mutually combined and referred to without contradiction.

To facilitate an understanding of embodiments of the present application, the disclosure in part relating to structured light depth cameras and speckle projectors is presented herein.

The main body of the structured light depth camera consists of a speckle projector and an infrared lens, wherein the infrared lens is used for shooting an infrared image of a target scene, the speckle projector is used for shooting a speckle pattern to the target scene, the infrared lens is also used for shooting the projection of the speckle pattern on the target scene, so that the speckle image is obtained, and the structured light depth camera performs depth recovery based on the infrared image and the speckle image of the target scene to generate a depth image carrying depth information of the target scene. The infrared lens is likely to encounter the condition of insufficient light when shooting the infrared image of the target scene, and the quality of the shot infrared image is poor, so that an infrared light source (such as an LED lamp) can be carried on the structured light depth camera for light supplementing, but the size and the cost of the structured light depth camera are certainly increased.

As shown in fig. 1, the main body of the speckle projector is composed of a VCSEL, a collimating mirror and a DOE, where a plurality of light-emitting points capable of emitting laser outwards are provided on a light-emitting surface of the VCSEL, and a light beam emitted by the VCSEL enters the collimating mirror, which can collimate the light beam emitted by the VCSEL and transmit the collimated light beam to the DOE, and the DOE diffracts and replicates the collimated light beam and projects the collimated light beam to a target scene. The focal point of the collimating mirror needs to be on the light emitting surface of the VCSEL, the optical path of the light beam emitted by the VCSEL reaching the collimating mirror is equal to the focal length of the collimating mirror, and the speckle projector can realize accurate and clear speckle projection (lattice projection).

If the spatial position of the collimating mirror moves (can move up and down), the position of the VCSEL is not changed, at the moment, the focal point of the collimating mirror is not on the light emitting surface of the VCSEL, the optical path of the light beam emitted by the VCSEL reaching the collimating mirror is not equal to the focal length of the collimating mirror, the speckle projector enters into a defocusing state and is equivalent to a surface light source for floodlight projection, and the speckle projector serving as the surface light source can supplement light for the infrared lens when the infrared lens shoots an infrared image of a target scene.

Therefore, as shown in fig. 2, manufacturers of speckle projectors in the industry choose to configure driving motors, such as Voice Coil Motor (VCM) at two ends of a collimator lens, and the speckle projector starts the driving Motor through current to drive the collimator lens to move up and down, the speckle projector enters a focusing state at a preset position, the speckle projector performs lattice projection, and the collimator lens does not enter an defocusing state after moving up and down, so that floodlight projection is performed to supplement light for an infrared lens.

However, the presence of the driving motor increases the volume of the speckle projector, increases the cost of the speckle projector, is unfavorable for miniaturization of the speckle projector, and increases the power consumption of the speckle projector due to current driving.

In order to solve the technical problems of large size, high cost and high power consumption of the speckle projector, an embodiment of the present application proposes a speckle projector, and implementation details of the speckle projector of the embodiment are specifically described below, which are provided for understanding only, and are not necessary to implement the present embodiment.

The schematic structural diagram of the speckle projector of this embodiment may be as shown in fig. 3, including: the device comprises a housing 11, a first VCSEL12, a second VCSEL13, a collimator lens 16 located above the first VCSEL12 and the second VCSEL13, and a DOE17 located above the collimator lens 16.

The collimating mirror 16 focuses relative to the second VCSEL13, the collimating mirror 16 is out of focus relative to the first VCSEL12, the first light beam emitted by the first VCSEL12 passes through the collimating mirror 16 and the DOE17 and floodlight is projected to the outside, the second light beam emitted by the second VCSEL13 passes through the collimating mirror 16 and the DOE17 and then the lattice is projected to the outside, and the speckle projector is used for turning on the first VCSEL12 and turning off the second VCSEL13 when receiving the first control signal and is also used for turning on the second VCSEL13 and turning off the first VCSEL12 when receiving the second control signal.

Specifically, the speckle projector is provided with two VCSELs, and the collimation path is defocused relative to the first VCSEL, so that the speckle projector can realize floodlight projection through the first VCSEL, and the collimation path is focused relative to the second VCSEL, so that the speckle projector can realize lattice projection through the second VCSEL. By means of the arrangement of one focusing VCSEL and one defocusing VCSEL, the speckle projector has the dot matrix projection capability and the floodlight projection capability on the premise of not increasing the volume, the cost and the power consumption, and meanwhile, motor equipment is not needed, so that heat transfer caused by motor heat dissipation is avoided.

In one example, the speckle projector is provided with a control module (switch), the first VCSEL and the second VCSEL are mutually independent in circuit, the first VCSEL and the second VCSEL can be turned on and off through the operation of the control module (switch), and when floodlight projection is required, the operation of the control module generates a first control signal, and the speckle projector turns on the first VCSEL and turns off the second VCSEL, so that floodlight projection is carried out; when the lattice projection is needed, the operation control module generates a second control signal, and the speckle projector starts the second VCSEL and closes the first VCSEL, so that the lattice projection is performed.

In one example, the speckle projector is used as a component of a structured light depth camera, the structured light depth camera is provided with a control module (switch) to realize the control of the speckle projector, a first VCSEL and a second VCSEL of the speckle projector are independent from each other in a circuit, when floodlight projection is required, the control module is operated to generate a first control signal and send the first control signal to the speckle projector, and the speckle projector is started up to turn off the first VCSEL and the second VCSEL, so that floodlight projection is carried out; when the lattice projection is needed, the operation control module generates a second control signal and sends the second control signal to the speckle projector, and the speckle projector turns on the second VCSEL and turns off the first VCSEL, so that the lattice projection is carried out.

In one example, the speckle projector further comprises a reflective assembly that forms a periscope optical path relative to the first VCSEL and the second VCSEL; after a first light beam emitted by the first VCSEL passes through the reflecting component, the collimating mirror and the DOE, floodlight is projected to the outside; the second light beam emitted by the second VCSEL is projected to the outside through the reflecting component, the collimating mirror and the DOE.

In another embodiment, a schematic structural view of the speckle projector may be as shown in fig. 4, including: the device comprises a shell 11, a first VCSEL12, a second VCSEL13, a first reflecting mirror 14, a second reflecting mirror 15, a collimating mirror 16 and a DOE17, wherein the first VCSEL12 and the second VCSEL13 are arranged on a first inner surface 111 of the shell 11, the first reflecting mirror 14 and the second reflecting mirror 15 form a reflecting assembly, the first reflecting mirror 14 is arranged on a second inner surface 112 of the shell 11, the second reflecting mirror 15 is arranged on a third inner surface 113 of the shell 11, the collimating mirror 16 is arranged above the first inner surface 111 and parallel to the first inner surface 111, the DOE17 is arranged above the collimating mirror 16 and parallel to the collimating mirror 16, a preset height difference exists between the first VCSEL12 and the second VCSEL13, the second inner surface 112 is adjacent to the first inner surface 111 and forms a preset angle, the third inner surface 113 is parallel to the second inner surface 112, and the focus of the collimating mirror 16 is on the light emergent surface of the second VCSEL13.

Specifically, the housing 11 is responsible for supporting the entire speckle projector, and there is actually one inclined quadrangular prism groove inside the housing 11, so the housing 11 has five inner surfaces, the first inner surface 111 being the bottom of the groove, and the first VCSEL12 and the second VCSEL13 being disposed side by side on the first inner surface 111. The second inner surface 112 is an inner surface adjacent to the first inner surface 111, a predetermined angle a is formed between the second inner surface 112 and the first inner surface 111, the third inner surface 113 is parallel to the second inner surface 112, i.e. the third inner surface 113 is an inner surface opposite to the second inner surface 112, the third inner surface 113 is also adjacent to the first inner surface 111, and an angle between the third inner surface 113 and the first inner surface 111 is 180 ° -a. Since the second inner surface 112 is opposite and parallel to the third inner surface 113, and thus the first mirror 14 is opposite and parallel to the second mirror 15, the first mirror 14 and the second mirror 15 form a periscope optical path with respect to the first VCSEL12 and the second VCSEL13, and the light beams emitted from the first VCSEL12 and the second VCSEL13 can be folded and propagated to the collimator lens 16.

In one example, the predetermined height difference between the first VCSEL12 and the second VCSEL13 may be that the first VCSEL12 is higher than the second VCSEL13, i.e., the first VCSEL12 is higher than the second VCSEL13 by the predetermined height difference.

In one example, the predetermined height difference between the first VCSEL12 and the second VCSEL13 may be that the first VCSEL12 is shorter than the second VCSEL13, i.e., the first VCSEL12 is shorter than the second VCSEL13 by the predetermined height difference.

In one example, the predetermined height difference between the first VCSEL12 and the second VCSEL13 is 5 millimeters.

In one example, the predetermined angle between the second inner surface 112 and the first inner surface 111 is 45 degrees.

In one example, as shown in fig. 5, the positions of the light emitting points on the first VCSEL are regularly arranged, so that the speckle projector can perform floodlight more uniformly.

In one example, as shown in fig. 6, the positions of the light exit points on the second VCSEL are randomly arranged.

In a specific implementation, due to the existence of the periscope light path, the focal length of the collimating mirror is folded, so that the thickness of the speckle projector is effectively reduced, and the existence of the periscope light path also enables the collimating mirror and the DOE not to be on the heat transfer paths of the two VCSELs, so that the service life of the speckle projector is prolonged.

In one example, by providing a circuit between the first VCSEL12 and the second VCSEL13, only one is allowed to be turned on at a time, i.e., the second VCSEL13 is turned off when the first VCSEL12 is turned on, the speckle projector is used for flood projection, and the first VCSEL12 is turned off when the second VCSEL13 is turned on, and the speckle projector is used for dot matrix projection.

In one example, the first VCSEL12 emits a first light beam toward the first mirror 14, the first mirror 14 reflects the first light beam toward the second mirror 15, the second mirror 15 reflects the first light beam toward the collimator lens 16, an optical path length of the first light beam from the first VCSEL12 through the first mirror 14 and the second mirror 15 to the collimator lens 16 is not equal to a focal length of the collimator lens 16 (the optical path length may be greater than the focal length of the collimator lens 16 or less than the focal length of the collimator lens 16), the collimator lens 16 collimates the first light beam, and propagates the collimated first light beam to the DOE, which diffracts and replicates the collimated first light beam and projects the collimated first light beam to the outside. The optical path of the first light beam from the first VCSEL12 to the collimator lens 16 is folded into three sections by the periscope optical path, wherein the section between the first mirror 14 and the second mirror 15 does not occupy the thickness of the speckle projector, so that the thickness of the speckle projector can be reduced, which is advantageous for miniaturization of the speckle projector. Because the focal point of the collimating mirror 16 is on the light emitting surface of the second VCSEL13, and there is a height difference between the first VCSEL12 and the second VCSEL13, so that the optical path of the first light beam propagating to the collimating mirror 16 is naturally unequal to the focal length of the collimating mirror 16, the first light beam emitted from the first VCSEL12 is out of focus between the collimating mirror 16 and the first VCSEL12, and scattered spots projected after passing through the first reflecting mirror 14, the second reflecting mirror 15, the collimating mirror 16 and the DOE17 are as shown in fig. 7 (because the VCSELs and the reflecting mirrors have a certain degree of divergence, the size of the scattered spots is compared with the size of the light emitting spot, and the scattered spots cannot be distinguished by blending each other, that is, the surface light source form is, namely floodlight projection.

In one example, the second VCSEL13 emits a second light beam toward the first mirror 14, the first mirror 14 reflects the second light beam to the second mirror 15, the second mirror 15 reflects the second light beam to the collimator 16, an optical path length of the second light beam from the second VCSEL13 through the first mirror 14 and the second mirror 15 to the collimator 16 is equal to a focal length of the collimator 16, the collimator 16 collimates the second light beam, and propagates the collimated second light beam to the DOE17, and the DOE17 diffracts and replicates the collimated second light beam and projects the collimated second light beam to the outside. Since the focal point of the collimator lens 16 is on the light emitting surface of the second VCSEL13, the optical path of the second light beam propagating to the collimator lens 16 is naturally equal to the focal length of the collimator lens 16, the second light beam is focused between the collimator lens 16 and the second VCSEL13, and the scattered spots projected by the second VCSEL13 after passing through the first mirror 14, the second mirror 15, the collimator lens 16 and the DOE17 are as shown in fig. 8 (since the VCSELs and the mirrors have a certain degree of divergence, the size of the scattered spots is a certain degree of divergence compared with the light emitting spot), and the scattered spots are independent and distinguishable from each other, so that the dot matrix projection is performed.

Another embodiment of the present application relates to a speckle projector, and the following details of implementation of the speckle projector of the present embodiment are provided only for convenience of understanding, and not necessary for implementing the present embodiment, and the structure schematic diagram of the speckle projector of the present embodiment may be shown in fig. 9, where the speckle projector includes a housing 21, a first VCSEL22, a second VCSEL23, and an integrated optical element 26 located above the first VCSEL22 and the second VCSEL 23.

The integrated optical element 26 integrates a collimator and DOE, the integrated optical element 26 is in focus with respect to the second VCSEL23, and the integrated optical element 26 is out of focus with respect to the first VCSEL. The first light beam emitted by the first VCSEL22 passes through the integrated optical element 26 and then floodlight is projected to the outside; the second light beam emitted by the second VCSEL23 is projected to the outside through the integrated optical element 26, and the speckle projector is used for turning on the first VCSEL22 and turning off the second VCSEL23 when receiving the first control signal, and is also used for turning on the second VCSEL23 and turning off the first VCSEL22 when receiving the second control signal.

In one example, the speckle projector further includes a reflective assembly that forms a periscope optical path relative to the first VCSEL and the second VCSEL. After passing through the reflecting component and the integrated optical element, the first light beam emitted by the first VCSEL is floodlight projected to the outside; the second light beam emitted by the second VCSEL is projected to the outside through the dot matrix after passing through the reflecting component and the integrated optical element.

In another embodiment, as shown in fig. 10, the structure of the speckle projector may be schematically shown, where the speckle projector includes a housing 21, a first VCSEL22, a second VCSEL23, a first mirror 24, a second mirror 25, and an integrated optical element 26, the first mirror 25 and the second mirror 26 form a periscope optical path, the first VCSEL22 and the second VCSEL23 are disposed on a first inner surface 211 of the housing 21, the first mirror 24 is disposed on a second inner surface 212 of the housing 21, the second mirror 25 is disposed on a third inner surface 213 of the housing 21, the integrated optical element 26 is disposed above the first inner surface 211 and parallel to the first inner surface 211, a preset height difference exists between the first VCSEL22 and the second VCSEL23, the second inner surface 212 is adjacent to the first inner surface 213 and forms a preset angle, the third inner surface 213 is parallel to the second inner surface 212, and a focal point of the integrated optical element 26 is on a light exit surface of the second VCSEL 23.

Another embodiment of the present application relates to a structured light depth camera, and the following details of implementation of the structured light depth camera of the present embodiment are provided only for convenience of understanding, and not necessary for implementing the present embodiment, a schematic structural diagram of the structured light depth camera of the present embodiment may be shown in fig. 11, where the structured light depth camera includes an infrared lens 31, a speckle projector 32, and a control module 33, the speckle projector 32 is a speckle projector in the foregoing speckle projector embodiment, the speckle projector includes a first VCSEL and a second VCSEL, and the control module 33 is connected with the speckle projector 32.

The control module 33 is configured to send the first control signal and/or the second control signal to the speckle projector 32.

The speckle projector 32 is used to turn on the first VCSEL and turn off the second VCSEL upon receipt of the first control signal, and is also used to turn on the second VCSEL and turn off the first VCSEL upon receipt of the second control signal.

It should be noted that, each module involved in this embodiment is a logic module, and in practical application, one logic unit may be one physical unit, or may be a part of one physical unit, or may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present application, elements that are not so close to solving the technical problem presented in the present application are not introduced in the present embodiment, but it does not indicate that other elements are not present in the present embodiment.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific embodiments in which the present application is implemented and that various changes in form and details may be made therein without departing from the spirit and scope of the present application.

Claims

1. A speckle projector, comprising: a housing, a first VCSEL, a second VCSEL, a collimating mirror located above the first VCSEL and the second VCSEL, and a DOE located above the collimating mirror, the collimating mirror being in focus with respect to the second VCSEL, the collimating mirror being out of focus with respect to the first VCSEL;

after the first light beam emitted by the first VCSEL passes through the collimating mirror and the DOE, floodlight is projected to the outside;

the second light beam emitted by the second VCSEL is projected to the outside through the collimating mirror and the DOE in a dot matrix manner;

the speckle projector is used for turning on the first VCSEL and turning off the second VCSEL when receiving a first control signal, and is also used for turning on the second VCSEL and turning off the first VCSEL when receiving a second control signal.

2. The speckle projector of claim 1, further comprising a reflective assembly that forms a periscope optical path relative to the first VCSEL and the second VCSEL;

the first light beam emitted by the first VCSEL is floodlight projected to the outside after passing through the reflecting component, the collimating mirror and the DOE;

and the second light beam emitted by the second VCSEL is projected to the outside through the reflecting component, the collimating mirror and the DOE.

3. The speckle projector of claim 2, wherein the reflective assembly comprises a first mirror and a second mirror, the first mirror and the second mirror form the periscope optical path, the first VCSEL and the second VCSEL are disposed on a first inner surface of the housing, the first mirror is disposed on a second inner surface of the housing, the second mirror is disposed on a third inner surface of the housing, the collimator mirror is disposed above and parallel to the first inner surface, the DOE is disposed above and parallel to the collimator mirror, a predetermined height difference exists between the first VCSEL and the second VCSEL, the second inner surface is adjacent to and at a predetermined angle to the first inner surface, the third inner surface is parallel to the second inner surface, and a focal point of the collimator mirror is on a light exit surface of the second VCSEL.

4. The speckle projector of claim 3, wherein the first light beam emitted by the first VCSEL is flood projected to the environment after passing through the reflective assembly, the collimating mirror, and the DOE, comprising:

the first VCSEL emits the first light beam towards the first mirror;

the first mirror reflects the first light beam to the second mirror;

the second reflecting mirror reflects the first light beam to the collimating mirror;

the collimating mirror collimates the first light beam and propagates the collimated first light beam to the DOE; the optical path of the first light beam transmitted to the collimating mirror through the first reflecting mirror and the second reflecting mirror is not equal to the focal length of the collimating mirror;

the DOE diffracts and replicates the collimated first light beam and projects the first light beam to the outside.

5. The speckle projector of claim 3, wherein the second light beam emitted by the second VCSEL is projected to the environment after passing through the reflective assembly, the collimating mirror, and the DOE, and comprising:

the second VCSEL emits a second beam of light toward the first mirror;

the first mirror reflects the second light beam to the second mirror;

the second reflecting mirror reflects the second light beam to the collimating mirror;

the collimating mirror collimates the second light beam and propagates the collimated second light beam to the DOE; the optical path of the second light beam transmitted to the collimating mirror through the first reflecting mirror and the second reflecting mirror is equal to the focal length of the collimating mirror;

the DOE diffracts and replicates the collimated second beam and projects the second beam to the outside.

6. The speckle projector of any one of claims 1 to 5, wherein the locations of the light exit points on the first VCSEL are regularly arranged and the locations of the light exit points on the second VCSEL are randomly arranged.

7. The speckle projector of any one of claims 3 to 5, wherein the first VCSEL is taller than the second VCSEL or the first VCSEL is shorter than the second VCSEL.

8. The speckle projector of any one of claims 3 to 5, wherein the predetermined height difference is 5 millimeters and the predetermined angle is 45 degrees.

9. A speckle projector, comprising: a housing, a first VCSEL, a second VCSEL, an integrated optical element located over the first VCSEL and the second VCSEL, the integrated optical element integrating a collimating mirror and a DOE, the integrated optical element being in focus with respect to the second VCSEL, the integrated optical element being out of focus with respect to the first VCSEL;

after the first light beam emitted by the first VCSEL passes through the integrated optical element, floodlight is projected to the outside;

the second light beam emitted by the second VCSEL is projected to the outside through the lattice after passing through the integrated optical element;

10. The speckle projector of claim 9, further comprising a reflective assembly that forms a periscope optical path relative to the first VCSEL and the second VCSEL;

the first light beam emitted by the first VCSEL is floodlight projected to the outside after passing through the reflecting component and the integrated optical element;

and the second light beam emitted by the second VCSEL is projected to the outside through the reflecting component and the integrated optical element.

11. The speckle projector of claim 10, wherein the reflective assembly comprises a first mirror and a second mirror that form the periscope optical path, the first VCSEL and the second VCSEL are disposed on a first inner surface of the housing, the first mirror is disposed on a second inner surface of the housing, the second mirror is disposed on a third inner surface of the housing, the integrated optical element is disposed above and parallel to the first inner surface, a predetermined height difference exists between the first VCSEL and the second VCSEL, the second inner surface is adjacent to and at a predetermined angle to the first inner surface, the third inner surface is parallel to the second inner surface, and a focal point of the integrated optical element is on a light exit surface of the second VCSEL.

12. A structured light depth camera comprising an infrared lens, a speckle projector according to any one of claims 1 to 8, or according to any one of claims 9 to 11, and a control module, the speckle projector comprising a first VCSEL and a second VCSEL, the control module being connected to the speckle projector;

the control module is used for sending a first control signal and/or a second control signal to the speckle projector;