CN213091888U - Depth measurement system and electronic device - Google Patents
Depth measurement system and electronic device Download PDFInfo
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- CN213091888U CN213091888U CN202021575711.9U CN202021575711U CN213091888U CN 213091888 U CN213091888 U CN 213091888U CN 202021575711 U CN202021575711 U CN 202021575711U CN 213091888 U CN213091888 U CN 213091888U
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Abstract
The utility model provides a depth measurement system and an electronic device, wherein the depth measurement system comprises a laser projection device, a first imaging device, a second imaging device and a processor; a laser projection arrangement for projecting the encoded structured-light pattern beam toward a common field of view of the first and second imaging arrangements, the laser projection arrangement comprising: the laser projection device comprises a laser emitter, a driving assembly and a projection assembly, wherein the driving assembly is used for driving the projection assembly to move so as to change the distance between the projection assembly and the laser emitter, so that the focusing position of a structured light pattern beam projected by the laser projection device is changed; the first imaging device is used for acquiring a first image of the common field of view; the second imaging device is used for acquiring a second image of the common field of view; the processor calculates a depth image according to binocular vision principles using the first image and the second image. The system can obtain high-quality projection beams in a short-distance range and a long-distance range and obtain high measurement accuracy.
Description
Technical Field
The utility model relates to an optical measurement technical field especially relates to a degree of depth measurement system and electronic equipment.
Background
With the rapid development of vision sensors and computer technologies, machine vision has been widely used, such as 3D measurement, 3D object reconstruction, and the like. The 3D measurement system widely used at present is based on the main technologies of TOF ranging technology, structured light ranging technology, binocular ranging technology and the like.
The binocular distance measurement technology is a mode of simulating human eyes to process scenery, according to the principle of triangulation, a projection device projects speckle patterns, fringe patterns and the like towards a target area, two cameras at different positions are used for shooting the same scenery, and the three-dimensional space coordinates of the target are obtained by calculating the parallax of the target in two images. In the current technology, due to technical limitations, most projection devices have fixed parameters, and the projection distance is limited, so that it is difficult to capture high-quality images in the whole range of short distance and long distance, and the imaging quality of the depth camera is deteriorated, which results in the reduction of the measurement accuracy.
Therefore, it is desirable to provide a solution that can adjust the projection beam to meet the requirements of different detection distances, both near and far distance high quality imaging.
The above background disclosure is only provided to aid in understanding the concepts and technical solutions of the present invention, and it does not necessarily belong to the prior art of the present patent application, and it should not be used to assess the novelty and inventive step of the present application without explicit evidence that the above content has been disclosed at the filing date of the present patent application.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problem, the utility model provides a degree of depth measurement system and electronic equipment, it can satisfy closely and remote high quality formation of image simultaneously to accord with different detection distance's demand.
The utility model provides a depth measuring system, which comprises a laser projection device, a first imaging device, a second imaging device and a processing device; the laser projection device is used for projecting the coded structured light pattern beam to a common field of view of the first imaging device and the second imaging device, and comprises a laser emitter, a driving component and a projection component, wherein the driving component is used for driving the projection component to move so as to change the distance between the projection component and the laser emitter, so that the focusing position of the structured light pattern beam projected by the laser projection device is changed; the first imaging device is used for acquiring a first image of the common field of view; the second imaging device is used for acquiring a second image of the common field of view; the processor calculates a depth image according to a binocular vision principle using the first image and the second image.
The utility model also provides an electronic equipment, include as above degree of depth measurement system.
The utility model has the advantages that: the distance between the laser emitter and the projection assembly is adjusted by the driving assembly, so that the focusing position of the light beam projected by the laser projection device is changed, high-quality projection light beams can be obtained in a short distance range and a long distance range, and high measurement accuracy can be obtained in the short distance range and the long distance range.
Drawings
Fig. 1 is a depth measurement system according to an embodiment of the present invention.
Fig. 2 is a structural diagram of a laser projection apparatus according to an embodiment of the present invention.
Fig. 3 is a schematic view of an electronic device including a depth measurement system according to an embodiment of the present invention.
Detailed Description
In order to make the technical problem, technical scheme and beneficial effect that the embodiment of the present invention will solve more clearly understand, the following combines the drawings and embodiment, and goes forward the further detailed description of the present invention. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Fig. 1 is a schematic diagram of a depth measurement system according to an embodiment of the present invention, where the depth measurement system 10 includes a laser projection device 11, a first imaging device 12, a second imaging device 13, and a processor 14, and the processor 14 is connected to the laser projection device 11, the first imaging device 12, and the second imaging device 13, respectively. The first imaging modality 12 and the second imaging modality 13 have a relatively fixed spatial relationship therebetween, and have a common field of view in space, and typically the first imaging modality 12 and the second imaging modality 13 are configured in a side-by-side arrangement. In one embodiment, the laser projection device 11 is disposed between the first imaging device 12 and the second imaging device 13 and is disposed on the same line, ensuring that the encoded structured-light pattern beam projected by the laser projection device 11 completely covers the common field of view of the first imaging device 12 and the second imaging device 13. The first imaging device 12 is used for acquiring a first image of the common field of view; the second imaging device 13 is used for acquiring a second image of the common field of view; the processor 14 calculates a depth image according to binocular vision principles using the first image and the second image. The first imaging modality 12 and the second imaging modality 13 may acquire images of a common field of view synchronously. The processor 14 uses the first image (or the second image) as the main image according to the binocular vision principle, determines the same feature point in the second image matched with the first image by using a matching algorithm, calculates the parallax of the feature point in the two images, and calculates the depth value of the feature point according to the parallax.
In one embodiment, the first imaging device 12 and the second imaging device 13 may be the same infrared imaging device, and may specifically include an array image sensor, a receiving optical element, and a filter. The array image sensor may be a CCD (Charge-coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), and the receiving optical element guides the light beam reflected from the target onto the sensor to be converted into a processable digital signal. The optical filter is configured to allow only laser light of a wavelength emitted by the laser projection device 11 to pass through, and filter out light of other wavelengths as well as background light.
As shown in fig. 2, which is a structural diagram of a laser projection apparatus according to an embodiment of the present invention, the laser projection apparatus has a different structure according to a projected structured light pattern, and in an embodiment, the laser projection apparatus 11 is used for projecting a pattern beam with discrete spots, and the laser projection apparatus 11 includes a laser emitter 21, a driving component 23, and a projection component 22.
The laser emitter 21 is used for emitting invisible infrared laser light, and may be a Light Emitting Diode (LED), a Laser Diode (LD), an Edge Emitting Laser (EEL), a Vertical Cavity Surface Emitting Laser (VCSEL), or the like, and may also be a one-dimensional or two-dimensional light source array composed of a plurality of light sources, and preferably, the laser emitter 21 is a VCSEL array light source chip formed by generating a plurality of VCSEL light sources on a single semiconductor substrate.
The projection unit 22 includes a collimator lens 221 and a diffractive optical element 222, the collimator lens 221 being disposed on a side closer to the laser emitter 21, and the diffractive optical element 222 being disposed on a side farther from the laser emitter 21. In some embodiments, the collimating lens and the diffractive optical element may also be separately disposed. Since the light beam emitted from the laser emitter 21 has a certain divergence angle, it needs to be collimated by the collimating lens 221 to emit a focused light beam, and the collimated light beam passes through the diffractive optical element 222 to be expanded into a plurality of light beams and form a discrete speckle pattern in space.
The driving assembly 23 is used for driving the projection assembly 22 to move so as to change the distance between the projection assembly 22 and the laser emitter 21, so that the focusing position of the structured light pattern beam projected to the common field of view by the laser projection device 11 is changed. In one embodiment, the drive assembly 23 includes a magnetic assembly and a coil assembly; wherein the coil assembly is disposed on the projection assembly 22, and the coil assembly interacts with the magnetic assembly after being energized to drive the projection assembly to move along the exit direction parallel to the structured light pattern beam.
It should be noted that, in the prior art, the focal length of the collimating lens in the laser projection apparatus is fixed, and the distance at which the light beam focused after being collimated by the collimating lens is projected into the common view field is fixed, that is, the focusing position of the light beam is fixed, it is difficult to simultaneously project high-quality projection light beams at a short distance and a long distance within the measurement range, and high-precision measurement of the short distance and the long distance cannot be simultaneously achieved. For example, setting the focal length of the collimator lens such that the focus position of the projection beam is at a relatively short distance makes it difficult to project a high-quality projection beam on a target at a long distance; in contrast, if the focus position of the projection beam is set at a relatively long distance, it is difficult for a target at a short distance to project a high-quality projection beam.
Therefore the utility model discloses in, adjust the distance between laser emitter and the projection subassembly through setting up drive assembly to change the focus position of the light beam that laser projection device throwed in total visual field, can all project out high-quality projection beam in the low coverage within range and the distance range with the realization, then can all obtain higher measurement accuracy in the low coverage within range and the distance range.
Specifically, as shown in fig. 2, the driving assembly 23 is configured to drive the projection assembly 22 to move, so that a first distance and a second distance are provided between the projection assembly 22 and the laser emitter 23; wherein the first distance is less than the second distance. When the projection assembly 22 is located at a first distance from the laser emitter 21, the structured-light pattern beam projected by the laser projection device 11 is focused at a first location 25 in the common field of view that is further from the laser projection device 11, ensuring a high quality projection beam on a target located within a distance range. When the projection assembly 22 and the laser emitter 21 have a second distance (shown by a dotted line), the structured-light pattern beam projected by the laser projection device 11 is focused to a second position 24 in the common field of view, which is closer to the laser projection device 11, so as to ensure that a high-quality projection beam is obtained on a target in a close range.
In one embodiment, a range threshold may be preset and a first distance between the laser emitter and the projection module may be preset, assuming that the range of the depth measurement system 10 is 0.8-10m, the range threshold is 1.5m, 0.8-1.5m is set as a short range, 1.5-10m is set as a long range, the processor 14 determines according to the calculated depth value, and if the depth value belongs to the short range, the driving module is controlled to move the projection module such that the distance between the projection module and the laser emitter is a second distance.
In one embodiment, a proximity sensor may be further configured in the depth measurement system, the proximity sensor is used to measure a distance between the target and the laser projection device, and the distance between the laser emitter and the projection assembly is adjusted according to the distance value.
It is understood that, in some embodiments, a third distance, a fourth distance, etc. may also be included, and the setting principle is the same as that described above, which is not described herein again.
By adjusting the distance between the laser emitter and the projection assembly, the distance from the structured light pattern beam projected by the laser projection device to the common view field can be adjusted, and the range measurement range of the depth measurement system can be effectively improved.
The utility model also provides an electronic equipment including above-mentioned degree of depth measurement system. The electronic device can be a mobile phone, a tablet, a computer, a television, an intelligent helmet, intelligent glasses, a robot and the like. Referring to fig. 3, taking a mobile phone as an example for explanation, the electronic device 300 includes a housing 31, a screen 32, and the depth measurement system according to the foregoing embodiment; the screen 32 is used for displaying information; and the shell 31 can provide protection functions of dust prevention, water prevention, falling prevention and the like for the electronic equipment.
By integrating the depth measuring device into an electronic device, such as: cell-phone, panel, computer, TV, intelligent helmet, intelligent glasses and robot etc to make electronic equipment's function constantly expand, use more and more extensively, for example can carry out reasonable modulation according to different demands such as measuring range, test environment, measuring accuracy, so that electronic equipment can satisfy the needs of different application scenarios.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A depth measurement system comprising a laser projection device, a first imaging device, a second imaging device, and a processor;
the laser projection device is configured to project the encoded structured-light pattern beam toward a common field of view of the first imaging device and the second imaging device;
the laser projection device comprises a laser emitter, a driving component and a projection component, wherein the driving component is used for driving the projection component to move so as to change the distance between the projection component and the laser emitter, so that the focusing position of a structured light pattern beam projected by the laser projection device is changed;
the first imaging device is used for acquiring a first image of the common field of view;
the second imaging device is used for acquiring a second image of the common field of view;
the processor calculates a depth image according to a binocular vision principle using the first image and the second image.
2. The depth measurement system of claim 1, wherein the laser transmitter comprises an infrared laser transmitter.
3. The depth measurement system of claim 1, wherein the laser emitter comprises one of a light emitting diode, a laser diode, an edge emitting laser, a vertical cavity surface emitting laser.
4. The depth measurement system of claim 1, wherein the laser emitter comprises a single light source or multiple light sources, the multiple light sources comprising a one-dimensional or two-dimensional array of light sources.
5. The depth measurement system of claim 1, wherein the projection assembly comprises a collimating lens and a diffractive optical element; the collimating lens is arranged on the side closer to the laser emitter, and the diffractive optical element is arranged on the side farther from the laser emitter.
6. The depth measurement system of claim 1, wherein the drive assembly comprises a magnetic assembly and a coil assembly; the coil assembly is arranged on the projection assembly, and the coil assembly interacts with the magnetic assembly after being electrified so as to drive the projection assembly to move along the emergent direction parallel to the structured light pattern light beam.
7. The depth measurement system of claim 1, wherein the first and second imaging devices are infrared imaging devices comprising an array of image sensors, receiving optics, and filters.
8. The depth measurement system of claim 1, further configured with a proximity sensor for measuring a distance between an object and the laser projection device, the distance between the laser emitter and the projection assembly being adjusted according to the distance.
9. An electronic device, characterized in that it comprises a depth measurement system according to any one of claims 1-8.
10. The electronic device of claim 9, comprising: one of a mobile phone, a tablet, a computer, a television, an intelligent helmet, intelligent glasses and a robot.
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| CN202021575711.9U CN213091888U (en) | 2020-07-30 | 2020-07-30 | Depth measurement system and electronic device |
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| CN202021575711.9U CN213091888U (en) | 2020-07-30 | 2020-07-30 | Depth measurement system and electronic device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023273332A1 (en) * | 2021-06-30 | 2023-01-05 | 深圳市汇顶科技股份有限公司 | Emission device for time-of-flight depth measurement, and electronic apparatus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023273332A1 (en) * | 2021-06-30 | 2023-01-05 | 深圳市汇顶科技股份有限公司 | Emission device for time-of-flight depth measurement, and electronic apparatus |
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