CN214252775U - Structured light emitter, depth camera and depth recognition terminal - Google Patents
Structured light emitter, depth camera and depth recognition terminal Download PDFInfo
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- CN214252775U CN214252775U CN202120534132.8U CN202120534132U CN214252775U CN 214252775 U CN214252775 U CN 214252775U CN 202120534132 U CN202120534132 U CN 202120534132U CN 214252775 U CN214252775 U CN 214252775U
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Abstract
The utility model provides a structure light emitter, degree of depth camera and degree of depth discernment terminal. Because the light beam that each sub-light source sent among the infrared light source passes through DOE's modulation back, form a plurality of image images of each sub-light source image of arranging on predetermineeing the plane, and each image overlaps each other, make any point on the speckle pattern of structure light emitter overlap by a corresponding point on two arbitrary image images and form, so compare in prior art, the luminance of the structure light that this structure light emitter throws obtains improving, thereby increased the interference killing feature of this structure light emitter under outdoor infrared light environment, and then strengthened the speckle discernment degree of this structure light emitter under outdoor environment and improved self depth effect outdoor.
Description
Technical Field
The utility model relates to an optical projection technical field especially relates to a structure light emitter, degree of depth camera and degree of depth discernment terminal.
Background
The development of science and technology and the trend of people to beautiful life have accelerated the development and the application of people to 3D vision technique, and at present, the demand of numerous fields such as robot, intelligent security protection, AR/VR, motion sensing game, unmanned aerial vehicle, new retail, commodity circulation to the degree of depth vision techniques such as face identification spills over strongly, also expands to outdoors by indoor gradually.
At present, the depth vision technology such as face recognition and the like depends on a structural light emitter; however, because the sunlight has an infrared light band, when the application scene is outdoors, the infrared light in the sunlight influences the speckle identification degree emitted by the structured light emitter.
Therefore, how to improve the speckle recognition degree of the structured light emitter outdoors becomes a technical problem to be solved urgently at present.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a structure light emitter, degree of depth camera and degree of depth discernment terminal to improve the speckle discernment degree of structure light emitter under outdoor environment.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
a first aspect of the application provides a structured light emitter comprising: an infrared light source, a collimating mirror and an optical diffraction element DOE; wherein:
the collimating mirror and the DOE are sequentially arranged on a light path of the infrared light source;
the light beams emitted by each sub-light source in the infrared light source are modulated by the DOE, a plurality of image images of each sub-light source arrangement image are formed on a preset plane, the image images are mutually overlapped to form a speckle pattern of the structured light emitter, and any point on the speckle pattern is formed by overlapping one corresponding point on any two image images.
Optionally, the overlapping area of the two overlapping image images accounts for 1/4.
Optionally, the overlapping area of the two overlapped image images is the area where the image is located.
Optionally, the method further includes: a cavity; wherein:
the infrared light source, the collimating mirror and the DOE are sequentially and vertically arranged in the cavity.
Optionally, the infrared light source is a vertical cavity surface emitting laser VCSEL.
A second aspect of the present application provides a depth camera comprising: an acquisition module, a processor and a structured light emitter as described in any of the first aspects of the present application; wherein:
the processor is respectively connected with the acquisition module and the structural light emitter;
when the structural light emitter receives a transmitting instruction, projecting structural light to a target; when the acquisition module receives an acquisition instruction, acquiring an actual speckle pattern generated on the target by the structured light;
and the processor performs depth calculation according to the speckle pattern of the structured light emitter and the actual speckle pattern to acquire the depth information of the target.
A third aspect of the present application provides a depth recognition terminal, including: a terminal and a depth camera as described in the second aspect of the application; wherein: the depth camera is integrated with the terminal.
Optionally, the terminal is a mobile phone, a tablet, a television or a computer.
According to the above technical scheme, the utility model provides a structure light emitter, include: infrared light source, collimating mirror and DOE. Because the light beam that each sub-light source sent among the infrared light source passes through DOE's modulation back, form a plurality of image images of each sub-light source image of arranging on predetermineeing the plane, and each image overlaps each other, make any point on the speckle pattern of structure light emitter overlap by a corresponding point on two arbitrary image images and form, so compare in prior art, the luminance of the structure light that this structure light emitter throws obtains improving, thereby increased the interference killing feature of this structure light emitter under outdoor infrared light environment, and then strengthened the speckle discernment degree of this structure light emitter under outdoor environment and improved self depth effect outdoor.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a structured light emitter provided in an embodiment of the present application;
FIGS. 2a, 2b and 2c are schematic diagrams of speckle patterns generated by light emitters with three structures in the prior art, respectively;
FIG. 3 is a schematic diagram of a speckle pattern generated by a structured light emitter provided herein.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In this application, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In order to improve speckle recognition of a structured light emitter in an outdoor environment, an embodiment of the present application provides a structured light emitter, a specific structure of which is shown in fig. 1, including: an infrared light source 10, a collimating mirror 20, and a DOE (Diffractive Optical Elements) 30.
In the structured light emitter, a collimating mirror 20 and a DOE30 are sequentially disposed on an optical path of an infrared light source 10; the light beams emitted by each sub-light source in the infrared light source 10 sequentially pass through the collimating mirror 20 and the DOE30, and are modulated by the DOE30, so that a plurality of image images of the arrangement images of each sub-light source are projected on a preset plane, as shown by the small squares in fig. 2 a-2 c.
The preset plane is a preset plane, and is not specifically limited herein, and may be determined according to specific circumstances, and is within the scope of the present application.
The image is an image formed by imaging each sub light source arrangement image through a lens pinhole; in other words, the modulation of the DOE30 may be seen as imaging a plurality of lens pinholes for each sub-light source arrangement image.
The image patterns are overlapped to form a speckle pattern of the structured light emitter, and any point on the speckle pattern is overlapped by a corresponding point on any two image patterns. Therefore, the brightness of any point on the speckle pattern of the light emitter with the structure is equal to the sum of the brightness of the two corresponding points, so that the brightness of the structured light projected by the light emitter with the structure is improved, the anti-interference capability of the light emitter with the structure in an outdoor infrared environment is improved, the speckle identification degree of the light emitter with the structure in the outdoor environment is enhanced, and the depth effect of the light emitter in the outdoor environment is improved.
Preferably, any point on the speckle pattern of the structured light emitter is overlapped by a corresponding point on any two adjacent image images, so as to improve the accuracy when the two image images are overlapped.
It should be noted that the above effects can be achieved by adjusting the arrangement of the sub-light sources on the infrared light source 10 and the etching structure of the DOE 30; however, practical applications, including but not limited to the above embodiments, are not limited herein and are within the scope of the present application.
Specifically, an implementation method for overlapping any point on the speckle pattern of the structured light emitter with a corresponding point on any two image images includes: 1/4, overlapping any two image images, wherein the overlapping area occupies the image; another implementation method specifically comprises the following steps: any two image images are overlapped, and the overlapped area is the area where the image is located.
It should be noted that, in practical applications, including but not limited to the above embodiments, there is no specific limitation here, and the embodiments may be within the protection scope of the present application; the former implementation mode has low requirements on the structural design of the DOE30, and is easy to implement, so the former implementation mode is a preferred implementation mode.
Preferably, the infrared light source 10 is a VCSEL (Vertical-Cavity Surface-Emitting Laser); in practical applications, including but not limited to the above-mentioned implementations, there is no specific limitation, but the specific cases are within the protection scope of the present application.
Optionally, the structured light emitter further comprises: a cavity (not shown in fig. 1); the infrared light source 10, the collimating mirror 20 and the DOE30 are vertically arranged in the cavity; in practical applications, including but not limited to the above-mentioned arrangement, such as the inclined arrangement, which is not specifically limited herein, is within the protection scope of the present application.
Fig. 2a (only a × b — 4 is shown as an example) is a speckle pattern formed by a structure light emitter in the prior art during operation, wherein the VCSEL includes a plurality of lasing points, i.e., sub-light sources, and the arrangement order of the lasing points is usually a pseudo-random axisymmetric distribution or a pseudo-random skew-axisymmetric distribution.
In practical applications, the speckle pattern of the structured light emitter can be regarded as a combination of a plurality of image patterns of the sub-light source arrangement image, wherein the image patterns may be misaligned in various ways, for example, as shown in fig. 2b and 2c, misalignment occurs between columns, but there is substantially no overlapping area between columns.
In contrast to the prior art, fig. 3 is a speckle pattern (speckle is not shown in the figure so as to clearly show the overlapping area between the image images) generated by the structured light emitter provided by the present application, wherein the first sub-image 01 forms a first overlapping area 21, a second overlapping area 22, a third overlapping area 23 and a fourth overlapping area 24 with the second image 02, the third image 03, the fourth image 04 and the fifth image 05, respectively.
The second image 02 and the thirteenth image 13, the sixth image 06, and the seventh image 07, the third image 03 and the seventh image 07, the eighth image 08, and the ninth image 09, respectively, the fourth image 04 and the ninth image 09, the tenth image 10, and the eleventh image 11, respectively, and the fifth image 05 and the eleventh image 11, the twelfth image 12, and the thirteenth image, respectively, form overlapping regions, as indicated by the hatched portions in fig. 3.
In each overlapping region, any point is overlapped by a corresponding point in the two image images, namely, in each overlapping region, the brightness of any point is equal to the sum of the brightness of the two corresponding points.
Another embodiment of the present application provides a depth camera, which specifically includes: the light emitter comprises an acquisition module, a processor and the structured light emitter provided in the embodiment.
The processor is respectively connected with the acquisition module and the structural light emitter, and when the structural light emitter receives a transmitting instruction, the structural light emitter projects structural light to a target; when the acquisition module receives the acquisition instruction, the actual speckle pattern generated on the target by the structured light is acquired.
The processor carries out depth calculation according to the speckle pattern of the structured light emitter and the actual speckle pattern, and then the depth information of the target can be obtained; wherein the speckle pattern of the structured light emitter is obtained and stored in the processor.
Another embodiment of the present application provides a depth recognition terminal, which includes: a terminal and a depth camera as provided in the above embodiments; the depth camera and the terminal are integrated together, and the setting position of the depth camera only needs to meet the use requirement of the depth camera, and is not specifically limited here, and may be determined according to specific situations.
Optionally, the terminal may be a mobile phone, a tablet, a television, or even a computer; in practical applications, including but not limited to the above embodiments, there is no specific limitation, and the embodiments are within the scope of the present application.
In the above description of the disclosed embodiments, features described in various embodiments in this specification can be substituted for or combined with each other to enable those skilled in the art to make or use the present application. The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way. Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention. The invention is not limited to the embodiments described herein, but is capable of other embodiments according to the invention, and may be used in various other applications, including, but not limited to, industrial, or industrial. Therefore, any simple modification, equivalent change and modification made to the above embodiments by the technical entity of the present invention all still fall within the protection scope of the technical solution of the present invention, where the technical entity does not depart from the content of the technical solution of the present invention.
Claims (8)
1. A structured light emitter, comprising: an infrared light source, a collimating mirror and an optical diffraction element DOE; wherein:
the collimating mirror and the DOE are sequentially arranged on a light path of the infrared light source;
after light beams emitted by all sub light sources in the infrared light source are modulated by the DOE, a plurality of image images of all sub light source arrangement images are projected on a preset plane, all the image images are mutually overlapped to form a speckle pattern of the structured light emitter together, and any point on the speckle pattern is formed by overlapping one corresponding point on any two image images.
2. A structured light emitter according to claim 1, wherein the overlapping area of the two overlapping image images is 1/4 of itself.
3. The structured light emitter of claim 1, wherein the overlapping area of the two overlapping image images is the area of the image itself.
4. The structured light emitter of claim 1, further comprising: a cavity; wherein:
the infrared light source, the collimating mirror and the DOE are sequentially and vertically arranged in the cavity.
5. A structured light emitter according to any of claims 1 to 4, wherein the infrared light source is a vertical cavity surface emitting laser, VCSEL.
6. A depth camera, comprising: an acquisition module, a processor and a structured light emitter according to any of claims 1 to 5; wherein:
the processor is respectively connected with the acquisition module and the structural light emitter;
when the structural light emitter receives a transmitting instruction, projecting structural light to a target; when the acquisition module receives an acquisition instruction, acquiring an actual speckle pattern generated on the target by the structured light;
and the processor performs depth calculation according to the speckle pattern of the structured light emitter and the actual speckle pattern to acquire the depth information of the target.
7. A depth recognition terminal, comprising: a terminal and a depth camera as claimed in claim 6; wherein: the depth camera is integrated with the terminal.
8. The depth recognition terminal of claim 7, wherein the terminal is a mobile phone, a tablet, a television or a computer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120534132.8U CN214252775U (en) | 2021-03-15 | 2021-03-15 | Structured light emitter, depth camera and depth recognition terminal |
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| CN202120534132.8U CN214252775U (en) | 2021-03-15 | 2021-03-15 | Structured light emitter, depth camera and depth recognition terminal |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115761458A (en) * | 2022-11-24 | 2023-03-07 | 北京的卢铭视科技有限公司 | Indoor and outdoor environment judging method, electronic equipment and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115761458A (en) * | 2022-11-24 | 2023-03-07 | 北京的卢铭视科技有限公司 | Indoor and outdoor environment judging method, electronic equipment and storage medium |
| CN115761458B (en) * | 2022-11-24 | 2023-09-01 | 北京的卢铭视科技有限公司 | Indoor and outdoor environment judging method, electronic equipment and storage medium |
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