CN220605987U

CN220605987U - Depth camera module of fastening installation

Info

Publication number: CN220605987U
Application number: CN202322086146.XU
Authority: CN
Inventors: 胡涛; 朱力; 吕方璐; 汪博
Original assignee: Shanghai Guangjian Aoshen Technology Co ltd; Zhuhai Hengqin Guangjian Technology Co ltd; Shenzhen Guangjian Technology Co Ltd
Current assignee: Shanghai Guangjian Aoshen Technology Co ltd; Zhuhai Hengqin Guangjian Technology Co ltd; Shenzhen Guangjian Technology Co Ltd
Priority date: 2023-08-04
Filing date: 2023-08-04
Publication date: 2024-03-15
Anticipated expiration: 2033-08-04

Abstract

The utility model provides a depth camera module of fastening installation, its characterized in that includes the base member, install on the base member: a light source for emitting infrared light; an infrared receiver for receiving a reflected signal of the infrared light; the fixing piece is connected with the base body and used for fixing and fastening the installed depth camera module; the fixing piece is not parallel to the base body. The utility model has more firm position and is not easy to move, so that the position of the depth camera module is more definite.

Description

Depth camera module of fastening installation

Technical Field

The utility model relates to a depth camera module, in particular to a depth camera module which is installed in a fastening mode.

Background

The depth camera module is installed in various intelligent devices, such as intelligent door locks, robots and the like, and data acquisition is performed. Particularly, when the depth camera is applied to mobile equipment such as a mobile robot, a robot arm, a smart car and the like, the depth camera often bears large vibration.

In the prior art, the shock resistance of the depth camera is mainly processed to obtain relatively stable data. However, the prior art does not provide an anti-seismic design for the installation of the depth camera module and the equipment such as a robot, an automobile and the like. When the depth camera module works in the mobile device for a long time, the position of the depth camera module is often displaced due to vibration and the like. These displacements often have a very detrimental effect on identifying the location of the mobile device from the target object. There is therefore a need for a depth camera module that can be better secured to a mobile device.

Disclosure of Invention

In view of the drawbacks of the prior art, an object of the present utility model is to provide a securely mounted depth camera module.

The utility model provides a depth camera module which is fastened and installed, and is characterized by comprising a base body, wherein the base body is provided with:

a light source for emitting infrared light;

an infrared receiver for receiving a reflected signal of the infrared light;

the fixing piece is connected with the base body and used for fixing and fastening the installed depth camera module;

the fixing piece is not parallel to the base body.

Optionally, the depth camera module of a fastening installation, wherein the light source includes:

an infrared emitter for emitting infrared laser light;

and the infrared light source is used for emitting infrared floodlight.

Optionally, the depth camera module is characterized in that at least one of the infrared emitter, the infrared light source and the infrared receiver has a height not exceeding the surface of the substrate.

Optionally, the depth camera module is characterized in that at least one of the infrared emitter, the infrared light source and the infrared receiver has a height exceeding the surface of the substrate.

Optionally, the depth camera module is fastened and installed, wherein the infrared emitter and the infrared receiver are located at two ends.

Optionally, the depth camera module is fastened and installed, wherein the base includes a first base and a second base;

the first substrate is positioned above, and the second substrate is positioned below; the side length of the first substrate is smaller than that of the second substrate.

Optionally, the depth camera module is further characterized in that the first substrate further comprises at least one positioning groove.

Optionally, the depth camera module of fastening installation, characterized by further comprising an interface, is located in the base body side, is used for communication.

Optionally, the depth camera module is characterized in that the light source is at a different height than the infrared receiver.

Optionally, the depth camera module is characterized in that a shock pad is further arranged above the base body.

Compared with the prior art, the utility model has the following beneficial effects:

according to the utility model, the depth camera module is connected with the mobile equipment through the fixing piece, and the fixing piece is not parallel to the base body, so that the depth camera module can be better attached to the mobile equipment after being installed, the position is more fastened, the mobile equipment is not easy to move, and the position of the depth camera module is more determined.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present utility model, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art. Other features, objects and advantages of the present utility model will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

FIG. 1 is a schematic diagram of a depth camera module with fastening assembly according to an embodiment of the present utility model;

FIG. 2 is a schematic view of another embodiment of a depth camera module with fastening mounting;

FIG. 3 is a schematic view of a light projector according to an embodiment of the present utility model;

FIG. 4 is a schematic view of another configuration of a light projector according to an embodiment of the utility model;

fig. 5 is a schematic structural diagram of an infrared receiver according to an embodiment of the present utility model.

1- -an infrared emitter;

2- -an infrared receiver;

3- -an infrared light source;

4-fixing sheets;

5- -a first substrate;

6- -a second substrate;

7- -an interface;

8- -a positioning groove;

9- -a baffle;

10- -a shock pad;

301—an edge-emitting laser;

302- -a beam projector;

303—a laser array;

304—a collimator lens;

305—a beam splitter;

501-an array of light detectors;

502—an optical imaging lens;

Detailed Description

The present utility model will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present utility model, but are not intended to limit the utility model in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present utility model.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for a fixing function or for a circuit communication function.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing embodiments of the utility model and to simplify the description by referring to the figures, rather than to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present utility model, the meaning of "plurality" is two or more, unless explicitly defined otherwise.

The utility model provides a depth camera module which is fastened and installed, comprising a base body, wherein the base body is provided with:

a light source for emitting infrared light;

an infrared receiver for receiving a reflected signal of the infrared light;

the fixing piece is not parallel to the base body.

The foregoing is a core idea of the present utility model, and in order that the above-mentioned objects, features and advantages of the present utility model can be more clearly understood, a technical solution in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is obvious that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Fig. 1 is a schematic structural diagram of a depth camera module with fastening installation according to an embodiment of the utility model. As shown in fig. 1 and 2, a depth camera module of the present utility model includes a base body, on which:

and a light source for emitting infrared light.

Specifically, the number of the light sources may be one or a plurality of. The light source may project laser light, may emit floodlight, or may project laser light, and may emit floodlight. The present embodiment does not limit the type of the light source as long as the acquisition of depth data can be achieved.

An infrared receiver 2 for receiving the reflected signal of the infrared light.

Specifically, the type of infrared receiver is determined by the type of light source. When the light source is a structured light projector, the infrared receiver is a structured light receiver. When the infrared light source projects floodlight, the infrared receiver is a TOF sensor. If the light source includes both a structured light projector and a flood projector, the infrared receiver remains a TOF sensor.

And the fixing piece 4 is connected with the base body and is used for fixedly and firmly mounting the depth camera module.

Specifically, the stator is not parallel to the base. The fixing piece and the base body can be connected through the connecting piece or integrally formed. The other end of the fixing piece is installed with the mobile equipment. When the fixing piece is fixed with the mobile equipment, the fixing piece applies smaller deformation force to the depth camera module, so that the depth camera module is fastened and fixed with the mobile equipment. The included angle between the fixing piece and the base body is not more than 30 degrees. The number of the fixing pieces is at least 2.

In some embodiments, the light source comprises:

an infrared emitter 1 for emitting infrared laser light.

Specifically, the infrared emitter is a structured light projector. The infrared emitter may be any structured light projector. For example, an infrared transmitter projects a structured light spot and measures the depth value of the target object by deformation of the spot.

An infrared light source 3 for emitting infrared floodlight.

Specifically, the infrared light source may operate simultaneously with the infrared emitter or may operate separately from the infrared emitter. When the infrared emitter and the infrared light source work simultaneously, the light intensity of the infrared light source is smaller, and the infrared light source plays a role in supplementing light to the infrared emitter. When the infrared light source and the infrared emitter work respectively, infrared floodlight emitted by the infrared light source is obtained by the infrared receiver, thereby forming a TOF system, and depth data of the target object is obtained according to a time-of-flight algorithm.

At this time, the infrared receiver 2 is configured to receive the reflected signal of the infrared laser light or the infrared floodlight.

Specifically, the type of infrared receiver is determined by the action of the infrared light source. When the infrared light source only plays a role of light supplementing, the infrared receiver is a structural light receiver. When the infrared light source can emit floodlight, thereby constituting a TOF system, the infrared receiver is a TOF sensor. It should be noted that if the infrared light source can supplement light and also form a TOF system, the infrared receiver is still a TOF sensor.

According to the utility model, through the collocation of the infrared emitter and the infrared light source, the infrared image, the speckle image and the depth image can be acquired, and the multiple functions of target identification, living body detection, gesture detection and the like are realized, so that the infrared imaging system has very high stability and safety.

In some embodiments, at least one of the infrared emitter 1, the infrared light source 3, and the infrared receiver 2 has a height that does not exceed the surface of the substrate. The surface herein refers to the upper surface. In this embodiment, the height of at least one of the infrared emitter 1, the infrared light source 3 and the infrared receiver 2 is lower, so that the base body and the mobile device can be better utilized for fixing. Through the cooperation of mobile device and depth camera module, fixed depth camera module better.

In some embodiments, at least one of the infrared emitter, the infrared light source, and the infrared receiver has a height that exceeds the surface of the substrate. In this embodiment, the height of at least one of the infrared emitter 1, the infrared light source 3 and the infrared receiver 2 is higher, so that light can be better emitted or received, and meanwhile, the base body and the mobile device can be better utilized for fixing. Through the cooperation of mobile device and depth camera module, fixed depth camera module better.

In some embodiments, the light source is at a different height than the infrared receiver. The light source and the infrared receiver are different in height, so that the height difference is better utilized, and the light source is fixed with the mobile device according to the weight distribution characteristics of the depth camera module, so that the height of a place with large weight is large, and the height of a place with small weight is small.

In some embodiments, a shock pad 10 is also provided above the base. The shock pad is made of hard materials. The density of the shock pad is less than the density of the matrix. The shock pad contacts with the mobile device, plays a role in buffering and fixing. The friction coefficient of the shock pad is larger than that of the base body.

In some embodiments, the securely mounted depth camera module further comprises an interface 7 located at the side of the base body for communication. The interface 7 may be various interfaces, such as USB, D9, HDMI, etc. The interface 7 is located on the side of the base body, not below, which is advantageous for the smaller thickness of the door lock. The door lock is fixedly provided with a connecting device opposite to the interface 7, and the communication and power supply of the depth camera and the door lock can be realized by connecting the interface 7 with the connecting device.

In some embodiments, the securely mounted depth camera module further comprises a baffle 9, the baffle 9 being located on the back of the substrate. The baffle 9 is detachably arranged on the base body, so that the infrared emitter, the infrared light source and the infrared receiver can be protected, and the later maintenance is convenient.

In some embodiments, the baffle 9 is of concave configuration. The two ends of the baffle 9 are higher than the middle so that the thickness of the two ends is minimized. Since the longest component of the infrared emitter, infrared source, infrared receiver is of a fixed size, the position of the middle of the baffle is also relatively fixed. Both ends are inwards concave, so that the whole volume of the depth camera module which is fastened and installed is minimum.

In some embodiments, the securely mounted depth camera module further includes a p-sensor. The distance sensor (p-sensor) is low in power and can sense the approach of a target object, thereby starting the tightly mounted depth camera module. The p-sensor works in a standby state, and when a target object is sensed, the depth camera module which is fastened and installed is started to recognize the target object, so that the power consumption can be reduced.

In some embodiments, infrared emitter 1 and infrared receiver 2 are located at both ends. The infrared emitter and the infrared receiver are respectively arranged at the most edge of the matrix, so that the distance between the infrared emitter and the infrared receiver is maximized, the space of the depth camera module which is installed in a fastening way is maximized, and the highest measurement precision is obtained.

In some embodiments, the matrix comprises a first matrix 5 and a second matrix 6. The first base body 5 is located above and the second base body 6 is located below; the side length of the first substrate 5 is smaller than the side length of the second substrate 6. The first base 5 and the second base 6 are stepped. The steps of the first base body 5 and the second base body 6 can enable the depth camera module to be fastened and installed to be clamped with the door lock, and the position is more accurate and firm.

In some embodiments, the first substrate 5 further comprises at least one positioning groove 8. The positioning groove can enlarge the contact area with the mobile equipment, and the positioning groove also has a height difference, so that the depth camera module can be positioned better. The positioning groove is positioned between the infrared emitter and the infrared light source or between the infrared light source and the infrared receiver.

In some embodiments, the interface 7 is located on said second substrate 6. The second substrate 6 is larger in size than the first substrate 5. When the depth camera module and the door lock are fastened and installed, the first base body is clamped with the door lock, and the positioning function is achieved. The second base body 6 is not locked to the door lock, but its side surface is not in contact with other parts, and has a connecting space. The second body is inwardly apertured to mount the interface 7. The end of the interface 7 is inside the second base body, not beyond the side of the second base body.

In some embodiments, the infrared receiver has an exposure frequency that is greater than the emission frequency of the infrared light source. When the infrared light source emits, the signal received by the infrared receiver is the signal emitted by the infrared light source, and the signal generated depends on the type of infrared light source. When the infrared light source does not emit, the signal received by the infrared receiver is the signal of the target object, and an infrared image is generated. When the infrared light source is a structured light projector, the infrared receiver receives the light spot signals, so that the infrared receiver can generate a light spot image, an infrared image and a depth image. The facula diagram, the infrared diagram, the depth diagram and the RGB diagram are combined to form a plurality of modes to realize a plurality of measurements.

FIG. 3 is a schematic view of a light projector according to an embodiment of the present utility model, and as shown in FIG. 3, the light projector includes an edge-emitting laser 301 and a beam projector 302 disposed on an optical path;

the edge-emitting laser 301 is configured to project laser light toward the beam projector 302;

the beam projector 302 is configured to project the incident laser light into a plurality of discrete collimated beams onto a target object.

In an embodiment of the present utility model, the inner surface of the beam splitting projector is provided with a micro-nano optical chip and is matched with an optical lens. The beam splitting projector can perform the function of splitting the incident light from the edge-emitting laser 301 into any of a plurality of collimated beams. The emission direction of the edge-emitting laser 301 and the projection direction of the beam-splitting projector may be the same, or may be 90 degrees or any angle required for the optical system design.

In one embodiment of the present utility model, the beam projector 302 may also employ a diffraction grating.

FIG. 4 is a schematic diagram of another configuration of a light projector according to an embodiment of the utility model, as shown in FIG. 4, the light projector includes a laser array 303, a collimating lens 304, and a beam splitter 305 disposed on an optical path;

the laser array 303 is configured to project laser light of a first order of magnitude toward the collimator lens 304;

the collimating lens 304 is configured to collimate the incident multiple laser beams and then emit collimated light beams of a first order of magnitude;

the beam splitter 305 is configured to split an incident collimated beam of a first order of magnitude and then emit a collimated beam of a second order of magnitude to a target object;

the second order of magnitude is greater than the first order of magnitude.

In one embodiment of the utility model, the laser array 303 may be composed of a plurality of vertical cavity surface emitting lasers (VerticalCavitySurfaceEmittingLaser, VCSEL) or a plurality of edge emitting lasers (EdgeEmitting Laser, EELs). The multiple lasers may be collimated into highly parallel beams after passing through the collimating lens 304. The beam splitter 305 may be used to achieve more collimated beams depending on the number of discrete beams required in an actual application. The beam splitter 305 may employ a diffraction grating (DOE), a Spatial Light Modulator (SLM), or the like.

In an embodiment of the present utility model, the light projector provided by the present utility model further includes a diffuser; the diffuser is used for diffusing the collimated light beam and enabling the collimated light beam to flood and emit.

Fig. 5 is a schematic structural diagram of an infrared receiver according to an embodiment of the present utility model, as shown in fig. 5, where the infrared receiver includes an optical imaging lens 502, a photodetector array 501, and a driving circuit; the photodetector array 501 comprises a plurality of photodetectors distributed in an array;

the optical imaging lens 502 is configured to enable a direction vector of the collimated light beam entering the photodetector array 501 through the optical imaging lens 502 to have a one-to-one correspondence with the photodetector;

the photodetector is used for receiving the collimated light beam reflected by the target object;

the driving circuit is used for measuring the propagation time of a plurality of collimated light beams and generating depth data of the surface of the target object.

To filter background noise, a narrow band filter is typically also incorporated within the optical imaging lens 502 so that the photodetector array 501 can only pass a predetermined wavelength of incident collimated light beam. The predetermined wavelength may be the wavelength of the incident collimated light beam, or may be between 50 nanometers less than the incident collimated light beam and 50 nanometers greater than the incident collimated light beam. The photodetector array 501 may be arranged periodically or aperiodically. Each light detector cooperates with an auxiliary circuit to achieve the time of flight alignment of the light beam for measurement. The photodetector array 501 may be a combination of multiple single point photodetectors or a sensor chip incorporating multiple photodetectors, depending on the number of discrete collimated light beams required. To further optimize the sensitivity of the photo detectors, the illumination spot of one discrete collimated beam on the target object 3 may correspond to one or more photo detectors. When a plurality of light detectors correspond to the same irradiation light spot, the signals of each detector can be communicated through a circuit, so that the light detectors with larger detection areas can be combined.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing describes specific embodiments of the present utility model. It is to be understood that the utility model is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the utility model.

Claims

1. The utility model provides a depth camera module of fastening installation, its characterized in that includes the base member, install on the base member:

a light source for emitting infrared light;

an infrared receiver for receiving a reflected signal of the infrared light;

the fixing piece is not parallel to the base body.

2. The securely mounted depth camera module of claim 1, wherein the light source comprises:

an infrared emitter for emitting infrared laser light;

and the infrared light source is used for emitting infrared floodlight.

3. The securely mounted depth camera module of claim 2, wherein at least one of said infrared emitter, said infrared light source, said infrared receiver has a height not exceeding a surface of said substrate.

4. The securely mounted depth camera module of claim 2, wherein at least one of said infrared emitter, said infrared light source, said infrared receiver has a height that exceeds a surface of said substrate.

5. The securely mounted depth camera module of claim 2, wherein said infrared emitter and said infrared receiver are located at both ends.

6. The securely mounted depth camera module of claim 1, wherein the base comprises a first base and a second base;

7. The securely mounted depth camera module of claim 6, further comprising at least one detent on the first base.

8. The securely mounted depth camera module of claim 1, further comprising an interface located on a side of the base for communication.

9. The securely mounted depth camera module of claim 1, wherein the light source is of a different height than the infrared receiver.

10. The securely mounted depth camera module of claim 1, wherein a shock pad is further provided above the base.