CN209570754U - Light projection mould group and image capturing system and three-dimensional sensing system with it - Google Patents
Light projection mould group and image capturing system and three-dimensional sensing system with it Download PDFInfo
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- CN209570754U CN209570754U CN201821792902.3U CN201821792902U CN209570754U CN 209570754 U CN209570754 U CN 209570754U CN 201821792902 U CN201821792902 U CN 201821792902U CN 209570754 U CN209570754 U CN 209570754U
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Abstract
This application discloses a kind of light projection mould group and including its image capturing system and three-dimensional sensing system, wherein light projection mould group includes light source and optical device, wherein, the optical device receives the light from the light source, and forms structure light light field and floodlighting light field superposed on one another.Be provided simultaneously with structured light patterns projection and floodlighting ability light projection mould group, can be achieved at the same time structure light light field and homogeneous background illumination light field, projection light field pattern, power and contrast it is controllable, be conducive to system it is integrated, minimize and reduce cost.
Description
Technical field
The utility model relates generally to three-dimensional sensing technology, more particularly to the light projection mould that can be applied to three-dimensional sensing
Group, image capturing system and three-dimensional sensing system with the mould group.
Background technique
Application of the structural light three-dimensional sensing technology in fields such as consumer electronics, robot, logistics, industrial detections is more and more wider
It is general.It is used separately structure light light field and floodlighting light field in conventional three-dimensional sensing technology, carries out figure under two kinds of light fields respectively
As acquisition, and information processing is carried out based on thus obtained different images.
In addition, existing project structured light mould group and floodlighting projective module group respectively use different light source and optics device
Part is formed as discrete component, is applied in combination both in the application of three-dimensional sensing technology, causes that level of integrated system is low, volume
Greatly, the problems such as at high cost.
Utility model content
The purpose of the utility model is to provide a kind of light projection mould group and the Image Acquisition system with the light projection mould group
System and three-dimensional sensing system wherein being integrated with project structured light function and floodlighting light field projection function improve system collection
Cheng Du is conducive to miniaturized structure, reduces cost.
One aspect according to the present utility model provides a kind of light projection mould group comprising light source and optical device,
In, the optical device receives the light from the light source, and forms structure light light field and floodlighting light field superposed on one another.
Advantageously, the brightness ratio of the floodlighting light field and the structure light light field is excellent in the range of 1:3~1:50
It is selected in the range of 1:3~1:9.
In some advantageous embodiments, the optical device is diffraction optical element, i.e. DOE, and the diffraction optics
The brightness for the homogeneous background light that the brightness for the structure light light field that element is formed is formed with diffraction optical element transmission stray light
Ratio in the range of 3:1~50:1, preferably in the range of 3:1~9:1, more preferably in the range of 4:1~8:1.
The optical device may include the first optical region and the second optical region, and first optical region, which has, to be used
In the first optical microstructures for forming structure light light field, second optical region has be used to form floodlighting light field the
Two optical microstructures.It is preferred that the optical device is diffraction optical element, i.e. DOE.It is preferred that the optical device is whole shape
At.
First optical region may include multiple subregions of array arrangement, and second optical region is at least
It partially surrounds around the multiple subregion.
In some embodiments, the illumination from same light source is mapped to both the first optical region and the second optical region
On.
In further embodiments, the light source may include first light source and the second light source different from first light source,
The first light source irradiates the first optical region, and the second light source irradiates the second optical region.
Alternatively, the optical device may include the first optical region and the second optical region, first optical region
With the first optical microstructures for being used to form structure light light field, second optical region, which has, is used to form floodlighting light
At least one lens of field.
At least one described lens may include microlens array.
The light projection mould group can also include shell, and the light source and optical device are mounted in the shell, and
The inner walls are using white diffusing reflection material.
Other side according to the present utility model provides a kind of image capturing system comprising light as described above
Projective module group and the structure light light field and floodlighting light field superposed on one another projected for acquiring the light projection mould group
The camera of the image of object under irradiation.It is preferred that the camera is infrared camera.
Other side according to the present utility model provides a kind of three-dimensional sensing system comprising: light as described above
Projective module group；Camera, the structure light light field and floodlighting superposed on one another projected for acquiring the light projection mould group
The image of object under light field irradiation；And computing unit, the camera acquired image is received, and be based on the figure
Three-dimensional information as obtaining the object.
According to the utility model embodiment, light projection mould group can be achieved at the same time structure light light field and homogeneous background illumination light
, projection light field pattern, power and contrast it is controllable, be conducive to system it is integrated, minimize and reduce cost.
Detailed description of the invention
By read referring to made by the following drawings to the detailed description of non-limiting embodiment, the utility model it is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 schematically shows the structure according to the light projection mould group of the utility model embodiment and its light field of projection；
Fig. 2 is the schematic block diagram according to the three-dimensional sensing system of the utility model embodiment；
Fig. 3 is the structural schematic diagram according to the light projection mould group of the utility model first embodiment；
Fig. 4 A and Fig. 4 B show the example that can be used for the optical device of light projection mould group of Fig. 3；
Fig. 5 is the structural schematic diagram according to the light projection mould group of the utility model second embodiment；
Fig. 6 A and Fig. 6 B show the example that can be used for the optical device of light projection mould group of Fig. 5；
Fig. 7 is the structural schematic diagram according to the light projection mould group of the utility model 3rd embodiment；
Fig. 8 shows the example that can be used for the optical device of light projection mould group of Fig. 7；
Fig. 9 is the structural schematic diagram according to the light projection mould group of the utility model fourth embodiment；And
Figure 10 A, Figure 10 B and Figure 10 C show the example that can be used for the optical device of the group of light projection mould shown in Fig. 9.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that herein
Described specific embodiment is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that
For ease of description, part relevant to invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
Fig. 1 schematically shows the structure according to the light projection mould group 10 of the utility model embodiment and its light of projection
.As shown, light projection mould group 10 is including light source 11, optical device 12 and optionally in installation/11 and of receiving light source
The shell 13 of optical device 12.Optical device 12 receives the light from light source 11, and forms structure light light field LF1 superposed on one another
With floodlighting light field LF2.
In some advantageous embodiments, light source 11 can be infrared light light source；Correspondingly, light projection mould group 10 is projected
It is the structure light light field and floodlighting light field of infrared light.The utility model inventors have found that in application scenes,
The image that the lower face acquired is irradiated while infrared light structure light light field and floodlighting light field, can be more efficiently used
It obtains the three-dimensional information of face and carries out recognition of face.Certainly, this can also be applied to detect and identify other objects.
In Fig. 1, structure light light field LF1 is shown as speckle light field, but this is only exemplary, and not restrictive.
It will be appreciated by those skilled in the art that the knot of other patterns can also be projected according to the light projection mould group 10 of the utility model embodiment
Structure light light field, such as include hot spot, striped, other patterns with specific shape or positional relationship or their any group
It closes；The utility model is unrestricted on the concrete form of structure light light field.Structure light light field can be for example, by generating light
The optical device of diffraction is realized, such as passes through diffraction optical element (DOE, Diffractive Optical
Element), grating array.
Floodlighting light field refers to the light field that substantially uniform illumination is carried out to target area.Floodlighting light field can
It is realized, can also be realized by light balancing device, such as pass through microlens array with increasing the irradiating angle of light by lens
Or the DOE with even light action.
Light source preferably uses laser light source, such as can use laser diode (LD, Laser Diode), vertical cavity table
Surface-emitting laser (VCSEL, Vertical-Cavity Surface-Emitting Laser)；In some embodiments,
Light emitting diode (LED, Light Emitting Diode) can also be used, but if necessary to utilize the coherence of its light,
It then also needs that collimator apparatus is arranged on the emitting light path of LED.
Each other according to structure light light field provided by the light projection mould group of the utility model embodiment and floodlighting light field
Superposition, but may be respectively used for obtaining the different information of object.It is abundant, effective in order to be capable of providing two kinds of light fields each
Irradiation, while excessive noise is not generated to the information for being desired based on another light filed acquisition, according to the utility model embodiment
The floodlighting light field that is projected of light projection mould group and structure light light field brightness ratio in the range of 1:3~1:50, preferably
In the range of 1:3~1:9.
In some advantageous embodiments, light projection mould group 10 may include shell 13, and shell 13 is preferably unrestrained using white
Inner reflective wall material allows the light being radiated on inner wall to pass through reflectance-transmittance optics member to improve inner wall optical reflection efficiency
Part projects, and forms certain Architecture Floodlighting.
Fig. 2 schematically shows the three-dimensional sensing systems 200 according to the utility model embodiment.As shown, three-dimensional
Sensor-based system 200 includes light projection mould group 10, camera 20 and computing unit 30.
Light projection mould group 10 is the light projection mould group according to the utility model embodiment, for projecting structure superposed on one another
Light light field and floodlighting light field.Camera 20 is for acquiring the structure light light field superposed on one another that light projection mould group 10 is projected
With the image of the object under the irradiation of floodlighting light field.Light projection mould group 10 is combined with camera 20, may be constructed according to this reality
With the image capturing system of new embodiment.
Computing unit 30 receives 20 acquired image of camera, and obtains three-dimensional information based on the image.Computing unit
30 may include processor 31 and memory 32, can store program instruction on memory 32, when described program is instructed by handling
When device 31 executes, so that the image that processor 31 receives computing unit 30 is handled, to obtain three-dimensional information.Some
In embodiment, the execution of described program instruction is it is also possible that processor 31 is handled to obtain the letter other than three-dimensional information
Breath.
It, can with one, two or more using the three-dimensional sensing system according to the light projection mould group of the utility model embodiment
Multi-cam is configured to monocular structure light, binocular structure light or more mesh structured-light systems, does not need in system using independent general
Optical illumination mould group.When being worked according to the three-dimensional sensing system of the utility model embodiment, while projective structure light light field and floodlight
Light field is illuminated, the image of acquisition target can obtain depth information according to structured light patterns image, obtain according to floodlighting image
Subject appearance information is taken, the data for being provided simultaneously with two kinds of information are formed.
According to the three-dimensional sensing system of the utility model embodiment, based on the light projection mould according to the utility model embodiment
Group may be implemented the three-dimensional sensing and object recognition algorithm and three-dimensional sensing identifying system application method of new simplification, reduce system
Calculation amount and calculating time, improve operational efficiency.
Introduce the light projection mould group 10 according to the utility model embodiment in further detail below with reference to Fig. 3~Figure 10.
Fig. 3 is the structural schematic diagram according to the light projection mould group 10A of the utility model first embodiment.As shown, light
Projective module group 10A includes first light source 11a and second light source 11b, optical device 12A and for installing light source and optics device
The shell 13 of part.Second light source 11b is different from first light source 11a.Here " difference " of light source refers to the type of light source, parameter
And the difference of the substance such as arrangement of light source, such as first light source 11a is LD, second light source 11b is LED or the first light
Source 11a is the VCSEL with the multiple eye points arranged at random, and second light source 11b is the more of the well-regulated array arrangement of tool
The VCSEL of a eye point.
Fig. 4 A and Fig. 4 B show the example that can be used for the optical device of light projection mould group of Fig. 3.
As shown in Figure 4 A, optical device 12A includes the first optical region 12a and the second optical region 12b, the first optics area
Domain 12a has the first optical microstructures for being used to form structure light light field, and the second optical region 12b, which has, is used to form floodlight photograph
Second optical microstructures of Mingguang City.According to the present embodiment, the first optical region 12a and the second optical region 12b are placed side by side each other.
In some embodiments, the first optical region 12a and the second optical region 12b can be formed on same optical substrates.Example
Such as, optical device 12A can be integrally formed diffraction optical element, wherein the first optical region 12a and the second optical region
It is respectively provided with different optical microstructure patterns on 12b, to essentially form two different diffraction optical elements, uses respectively
In offer structure light light field and even light field.In other embodiments, the first optical region 12a and the second optical region
12b can be formed on discrete optical substrates and be stitched together.In addition, optical microstructures, are especially used to form floodlight
Illuminate the second optical microstructures of light field, however it is not limited to which the optical microstructure patterns for forming DOE element are also possible to for leading to
It crosses scattering and/or the other micro-structures, such as the even mating plate based on scattering, microlens array etc. of even light is realized in refraction.
Optical device 12A ' shown in Fig. 4 B is a kind of modification of optical device 12A shown in Fig. 4 A, wherein in addition to the first light
Except school district domain 12a and the second optical region 12b, optical device 12A ' further includes third optical region 12c.In diagram example
In, third optical region 12c surrounds the first optical region 12a and the second optical region 12b.In some instances, third optics
Region 12c can be additional for providing the optical region of floodlighting light field.In other examples, third optical region
12c is also possible to " blank " optical region for installing optical device 12A ', wherein not forming specific optical microstructures.
According to the present embodiment, as shown in figure 3, irradiating the first optics area respectively from first light source 11a and second light source 11b
Domain 12a and the second optical region 12b.
Fig. 5 is the structural schematic diagram according to the light projection mould group 10B of the utility model second embodiment.It is practical new according to this
The light projection mould group 10B of type second embodiment has substantially with according to the light projection mould group 10A of the utility model first embodiment
Upper identical structure, difference essentially consist in, only include a light source, i.e. light source 11 in light projection mould group 10B, be used for
The first and second optical regions on illumination optics 12A simultaneously are shone with the structure light light field and floodlight that form superposed on one another
Mingguang City.In some advantageous embodiments, light source 11 is laser light source, such as laser diode or Vertical Cavity Surface transmitting
Laser；In other embodiments, light source 11 is light emitting diode, and light projection mould group 10B further comprises being used for
The collimator apparatus that light from light emitting diode is collimated.
Compared to the light projection mould group using different first and second light sources according to the utility model first embodiment, root
A light source, advantageously reduction system power dissipation need to be only used according to the light projection mould group of the present embodiment.In addition, for including that the light is thrown
It penetrates for the image capturing system and three-dimensional sensing system of mould group, due to need to only control a projector, so can also simplify
System structure and working method, further reduce the cost.
It can be applied to above by reference to Fig. 4 A and Fig. 4 B the optical device 12A and 12A ' introduced according to the utility model second
The light projection mould group 10B of embodiment, details are not described herein.
Fig. 6 A and Fig. 6 B show other examples that can be used for the optical device of light projection mould group 10B.Fig. 6 A shows optics
Device 12B, Fig. 6 B show a kind of modification of optical device 12B, i.e. optical device 12B '.Optical device 12B and 12B ' are respective
It all include the first optical region 12f and the second optical region 12g, the second optical region 12g is at least partly around the first optics
Region 12f, the difference is that, the first optical region 12f includes multiple local subregions, the second light in optical device 12B '
School district domain 12g is at least partly around around these subregions.Multiple subregions are preferably array arrangement.Have some
In the embodiment of benefit, the first optical region 12f has the first optical microstructures for being used to form structure light light field, the second optics
Region 12g has the second optical microstructures for being used to form floodlighting light field.In some advantageous embodiments, optics device
Part 12B, 12B ' it is diffraction optical element, i.e. DOE.
As optical device 12B, 12B ' be applied to Fig. 5 shown in light projection mould group 10B when, can be with from same light source 11
Illumination is mapped to optical device 12B, 12B ' each region on.
Fig. 7 is the structural schematic diagram according to the light projection mould group 10C of the utility model 3rd embodiment.It is practical new according to this
The light projection mould group 10C of type 3rd embodiment has with according to the light projection mould group 10B (see Fig. 5) of the utility model second embodiment
There is substantially the same structure, difference essentially consists in, and using in light projection mould group 10C has the uniform micro- knot of optics
The diffraction optical element of structure pattern is as optical device 12C (hereinafter also referred to " diffraction optical element 12C ").
Fig. 8 is only schematically showing for diffraction optical element 12C, wherein not showing optical microstructure patterns.According to this reality
It applies example, the brightness for the structure light light field that diffraction optical element 12C is formed and diffraction optical element transmission stray light and is formed
The ratio of the brightness of homogeneous background light is in the range of 3:1~50:1, preferably in the range of 3:1~9:1, more preferably 4:1~
In the range of 8:1, to provide floodlighting using the light quantity part of transmission, non-formation structure light.
Although having generallyd use diffraction optical element (DOE) in the prior art to form structure light light field, and utilize
DOE projects structure light light field (structured light patterns) and can should inherently infuse with background illumination caused by stray light
It anticipates, is all this background illumination caused by stringent inhibition stray light, usual background light level in the DOE design of the prior art
It controls in structure brightness 1% hereinafter, even lower.It did not propose still to provide by control DOE device in the prior art
Uniformly and there is well-lit bias light and structure light light field and floodlighting light field are provided simultaneously.
Fig. 9 is according to the structural schematic diagram of the light projection mould group 10D of the utility model fourth embodiment, Figure 10 A, Figure 10 B
The example that can be used for the optical device of the group of light projection mould shown in Fig. 9 10D, optical device 12D, 12E, 12F are shown with Figure 10 C.
As shown in Figure 9 and Figure 10, practical new according to the light projection mould group 10D of the utility model fourth embodiment and according to this
Light projection mould group 10B, 10C of second, third embodiment of type is substantially the same, the difference is that, light projection mould group 10D is used
Optical device include the first optical region and the second optical region positioned at optical device center, the first optical region tool
There are the first optical microstructures for being used to form structure light light field, the second optical region, which has, is used to form floodlighting light field extremely
Few lens.
Optical device 12D shown in Figure 10 A includes the first optical region 12k and the second optical region 12l, the second optics area
Domain 12l is located at center and including a refractor.The refractor can be convex lens, be also possible to concavees lens, only
The light diverging from light source can be made to form floodlighting on its position relative to light source 11.
Optical device 12E shown in Figure 10 B includes the first optical region 12k and the second optical region positioned at center
12m, the second optical region 12m include a Fresnel Lenses, for making the light diverging into the Fresnel Lenses to be formed
Floodlighting.
Optical device 12F shown in Figure 10 C includes the first optical region 12k and the second optical region positioned at center
12n, the second optical region 12n includes microlens array, which generates even light action to the light being irradiated to thereon, from
And form floodlighting.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (20)
1. a kind of light projection mould group, including light source, optical device and shell, the light source and the optical device are mounted on described
In shell, the optical device receives the light from the light source, which is characterized in that the optical device includes the first optics area
Domain and the second optical region, first optical region has the first optical microstructures for being used to form structure light light field, described
Second optical region has the second optical microstructures for being used to form floodlighting light field, first optical region and the second light
School district domain forms structure light light field and floodlighting light field superposed on one another.
2. light projection mould group as described in claim 1, which is characterized in that the floodlighting light field and the structure light light field
Brightness ratio in the range of 1:3~1:50.
3. light projection mould group as claimed in claim 2, which is characterized in that the floodlighting light field and the structure light light field
Brightness ratio in the range of 1:3~1:9.
4. light projection mould group as described in claim 1, which is characterized in that first optical region includes the more of array arrangement
Sub-regions, and second optical region is at least partly around around the multiple subregion.
5. light projection mould group as described in claim 1, which is characterized in that the illumination from same light source is mapped to the first optics area
On domain and second optical region the two.
6. light projection mould group as described in claim 1, which is characterized in that the light source include first light source and be different from first
The second light source of light source, the first light source irradiate the first optical region, and the second light source irradiates the second optical region.
7. light projection mould group as described in claim 1, which is characterized in that the optical device is diffraction optical element, i.e.,
DOE。
8. light projection mould group as described in claim 1, which is characterized in that the optical device was integrally formed.
9. such as light projection mould group of any of claims 1-8, which is characterized in that the inner walls are unrestrained using white
Reflect material.
10. a kind of light projection mould group, including light source, optical device and shell, the light source and optical device are mounted on the shell
In body, the optical device receives the light from the light source, which is characterized in that the optical device includes the first optical region
With the second optical region, first optical region, which has, is used to form the first optical microstructures of structure light light field, and described the
Two optical regions have at least one lens for being used to form floodlighting light field, first optical region and the second optics area
Domain forms structure light light field and floodlighting light field superposed on one another.
11. light projection mould group as claimed in claim 10, which is characterized in that the floodlighting light field and the structure light light
The brightness ratio of field is in the range of 1:3~1:50.
12. light projection mould group as claimed in claim 11, which is characterized in that the floodlighting light field and the structure light light
The brightness ratio of field is in the range of 1:3~1:9.
13. light projection mould group as claimed in claim 10, which is characterized in that at least one described lens include lenticule battle array
Column.
14. the light projection mould group as described in any one of claim 10-13, which is characterized in that the inner walls are using white
Color diffusing reflection material.
15. a kind of light projection mould group, including light source, optical device and shell, the light source and optical device are mounted on the shell
In body, the optical device receives the light from the light source, which is characterized in that and the optical device is diffraction optical element,
That is DOE, and the diffraction optical element formed structure light light field brightness and the diffraction optical element transmission stray light and shape
At homogeneous background light brightness ratio in the range of 3:1~50:1.
16. light projection mould group as claimed in claim 15, which is characterized in that the brightness of the structure light light field and it is described uniformly
The ratio of the brightness of bias light is in the range of 3:1~9:1.
17. light projection mould group as claimed in claim 16, which is characterized in that the brightness of the structure light light field and it is described uniformly
The ratio of the brightness of bias light is in the range of 4:1~8:1.
18. a kind of image capturing system characterized by comprising
Light projection mould group as described in any one of claim 1-17；And
Camera, for acquiring the structure light light field superposed on one another and floodlighting light field photograph that the light projection mould group is projected
The image of object under penetrating.
19. image capturing system as claimed in claim 18, which is characterized in that the light source of the light projection mould group is red
Outer light source, and the camera is infrared camera.
20. a kind of three-dimensional sensing system characterized by comprising
Light projection mould group as described in any one of claim 1-17；
Camera, for acquiring the structure light light field superposed on one another and floodlighting light field photograph that the light projection mould group is projected
The image of object under penetrating；And
Computing unit receives the camera acquired image, and the three-dimensional letter of the object is obtained based on described image
Breath.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI761936B (en) * | 2020-06-19 | 2022-04-21 | 大陸商廣州立景創新科技有限公司 | 3d sensing device, lighting module and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI761936B (en) * | 2020-06-19 | 2022-04-21 | 大陸商廣州立景創新科技有限公司 | 3d sensing device, lighting module and control method thereof |
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