WO2019227975A1 - 激光投射器的控制系统、终端和激光投射器的控制方法 - Google Patents

激光投射器的控制系统、终端和激光投射器的控制方法 Download PDF

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Publication number
WO2019227975A1
WO2019227975A1 PCT/CN2019/075392 CN2019075392W WO2019227975A1 WO 2019227975 A1 WO2019227975 A1 WO 2019227975A1 CN 2019075392 W CN2019075392 W CN 2019075392W WO 2019227975 A1 WO2019227975 A1 WO 2019227975A1
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WIPO (PCT)
Prior art keywords
laser projector
laser
microprocessor
driving circuit
parameter
Prior art date
Application number
PCT/CN2019/075392
Other languages
English (en)
French (fr)
Inventor
吕向楠
白剑
陈彪
Original Assignee
Oppo广东移动通信有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201810540382.5A external-priority patent/CN109066288A/zh
Priority claimed from CN201810539043.5A external-priority patent/CN108767653A/zh
Application filed by Oppo广东移动通信有限公司 filed Critical Oppo广东移动通信有限公司
Publication of WO2019227975A1 publication Critical patent/WO2019227975A1/zh

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
    • H01S5/04—Processes or apparatus for excitation, e.g. pumping, e.g. by electron beams
    • H01S5/042—Electrical excitation ; Circuits therefor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H04N9/3191—Testing thereof
    • H04N9/3194—Testing thereof including sensor feedback
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/30—Authentication, i.e. establishing the identity or authorisation of security principals
    • G06F21/31—User authentication
    • G06F21/32—User authentication using biometric data, e.g. fingerprints, iris scans or voiceprints
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/16—Human faces, e.g. facial parts, sketches or expressions
    • G06V40/161—Detection; Localisation; Normalisation
    • G06V40/166—Detection; Localisation; Normalisation using acquisition arrangements
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
    • H01S5/02—Structural details or components not essential to laser action
    • H01S5/022—Mountings; Housings
    • H01S5/0225—Out-coupling of light
    • H01S5/02255—Out-coupling of light using beam deflecting elements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H04N9/3129—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM] scanning a light beam on the display screen
    • H04N9/3135—Driving therefor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H04N9/3141—Constructional details thereof
    • H04N9/315—Modulator illumination systems
    • H04N9/3164—Modulator illumination systems using multiple light sources
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H04N9/3141—Constructional details thereof
    • H04N9/3173—Constructional details thereof wherein the projection device is specially adapted for enhanced portability
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H04N9/3179—Video signal processing therefor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/30—Transforming light or analogous information into electric information
    • H04N5/33—Transforming infrared radiation

Definitions

  • the present application relates to the field of consumer electronics technology, and more particularly, to a control system, terminal, and control method for a laser projector.
  • the mobile phone can be equipped with a laser generator.
  • the laser projector can project a laser with predetermined pattern information, and project the laser onto a target user located in the space, and then obtain the laser pattern reflected by the target user through the imaging device to further Obtain a depth image of the target user.
  • Embodiments of the present application provide a control system, terminal, and method for controlling a laser projector.
  • the control system of the laser projector includes a first driving circuit, a microprocessor, and an application processor.
  • the first driving circuit is connected to the laser projector, and the first driving circuit is configured to drive the laser projector.
  • a laser projector projects laser light;
  • the microprocessor is connected to the first drive circuit;
  • the application processor is connected to the microprocessor, and the application processor is configured to The corresponding control signal is sent to the microprocessor at a distance of 500 ⁇ , and the microprocessor controls the first driving circuit according to the control signal so that the laser projector projects laser light with predetermined parameters.
  • the terminal according to the embodiment of the present application includes a laser projector and the control system according to the foregoing embodiment, and the first driving circuit is connected to the laser projector.
  • the laser projector according to the embodiment of the present application is connected to a first driving circuit.
  • the method for controlling the laser projector includes: applying a processor to send a corresponding control signal to a microprocessor according to a distance between a human eye and the laser projector. ; And the microprocessor controls the first driving circuit according to the control signal so that the laser projector projects laser light with a predetermined parameter.
  • FIG. 1 is a schematic structural diagram of a terminal according to an embodiment of the present application.
  • FIGS. 2 to 3 are schematic diagrams of modules of a terminal according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of current parameters of a laser beam projected by a laser projector according to an embodiment of the present application
  • FIG. 5 is a schematic diagram of a frame rate parameter of a laser beam projected by a laser projector according to an embodiment of the present application
  • FIG. 6 is a schematic diagram of a pulse width parameter of a laser beam projected by a laser projector according to an embodiment of the present application
  • FIG. 7 to 11 are schematic flowcharts of a method for controlling a laser projector according to an embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of a laser projection module according to an embodiment of the present application.
  • 13 to 15 are partial structural schematic diagrams of a laser projector according to an embodiment of the present application.
  • the first feature "on” or “down” of the second feature may be the first and second features in direct contact, or the first and second features indirectly through an intermediate medium. contact.
  • the first feature is “above”, “above”, and “above” the second feature.
  • the first feature is directly above or obliquely above the second feature, or it only indicates that the first feature is higher in level than the second feature.
  • the first feature is “below”, “below”, and “below” of the second feature.
  • the first feature may be directly below or obliquely below the second feature, or it may simply indicate that the first feature is less horizontal than the second feature.
  • a terminal 100 includes a laser projector 10, an infrared camera 20, and a control system 30.
  • the terminal 100 may be a mobile phone, a tablet computer, a smart watch, a smart bracelet, a smart wearable device, and the like.
  • the terminal 100 is a mobile phone as an example. It can be understood that the specific form of the terminal 100 is not limited to a mobile phone. .
  • the laser projector 10 is capable of projecting laser light on a target object.
  • the laser light may be infrared light.
  • the laser light projected by the laser projector 10 may have a pattern such as a specific speckle or a stripe.
  • the infrared camera 20 can collect an infrared image of a target object or receive a laser pattern modulated by the target object. In order to obtain a clearer laser pattern, it is usually necessary to continuously emit multiple frames of laser light to a target object with a certain optical power.
  • the control system 30 includes a first driving circuit 31, a second driving circuit 32, an application processor 33 and a watchdog timer 34, a microprocessor 35, and a distance sensor 36.
  • the first driving circuit 31 is connected to the laser projector 10.
  • the first driving circuit 31 can be used to drive the laser projector 10 to project laser light.
  • the first driving circuit 31 is used as a current source of the laser projector 10. When turned off, the laser projector 10 cannot emit laser light.
  • the second driving circuit 32 is connected to the first driving circuit 31.
  • the second driving circuit 32 can be used to supply power to the first driving circuit 31.
  • the first driving circuit 31 can be a DC / DC circuit.
  • the first driving circuit 31 may be separately packaged as a driving chip, and the second driving circuit 32 may also be individually packaged as a driving chip, or the first driving circuit 31 and the second driving circuit 32 may be packaged together in one driving chip, and the driving chip Both can be disposed on a substrate or a circuit board of the laser projector 10.
  • the application processor 33 may be used as the system of the terminal 100, the application processor 33 may be connected to the first driving circuit 31, and the application processor 33 may also be connected to the infrared camera 20.
  • the application processor 33 may also be connected to multiple electronic components of the terminal 100 and control the multiple electronic components to operate in a predetermined mode, such as controlling the display screen of the terminal 100 to display a predetermined screen, and controlling the antenna transmission or reception of the terminal 100
  • a predetermined mode such as controlling the display screen of the terminal 100 to display a predetermined screen, and controlling the antenna transmission or reception of the terminal 100
  • the visible light camera 50 of the control terminal 100 acquires a color image and processes the color image, controls the power of the infrared camera 20 to be turned on and off, pwdn the infrared camera 20 or reset the infrared camera 20, and the like.
  • the application processor 33 can also be used to control the operation of the first driving circuit 31 to drive the laser projector 10 to project laser light. It can be understood that when the application processor 33 fails, such as when the application processor 33 is down, the first driving circuit 31 may It is just in the state of continuously driving the laser projector 10 to emit laser light, and the laser light that is continuously emitted outward has a high danger, which may burn the user, and particularly easily damage the eyes of the user. Therefore, the operating state of the application processor 33 needs to be monitored, and when the operation of the application processor 33 fails, the laser projector 10 is turned off in time.
  • the application processor 33 sends a predetermined signal to the monitoring timer 34 at a predetermined time interval, for example, sends a clear signal to the monitoring timer 34 every 50 milliseconds, and when the application processor 33 runs In the event of a failure, the application processor 33 cannot run a program that sends a predetermined signal to the watchdog timer 34, and therefore cannot send a predetermined signal so that the failure state of the application processor 33 is detected.
  • the watchdog timer 34 is connected to the first driving circuit 31, the watchdog timer 34 is connected to the application processor 33, and the watchdog timer 34 is used to turn off when a predetermined signal is not received within a predetermined period of time.
  • the first driving circuit 31 turns off the laser projector 10.
  • the predetermined duration may be set by the terminal 100 at the factory, or may be customized on the terminal 100 according to a user.
  • the specific form of the watchdog timer 34 may be a counter. After the watchdog timer 34 receives a predetermined signal, the watchdog timer 34 starts counting down from a number at a certain speed. If the application processor 33 works normally, before the countdown reaches 0, the application processor 33 will send a predetermined signal again, and the watchdog timer 34 will reset the countdown after receiving the predetermined signal; if the application processor 33 does not work normally, monitor the timing When the timer 34 counts to 0, the watchdog timer 34 is regarded as judging that the application processor 33 is malfunctioning. At this time, the watchdog timer 34 sends a signal to turn off the first driving circuit 31 to turn off the laser projector 10.
  • the watchdog timer 34 can be set outside the application processor 33, the watchdog timer 34 can be an external timer chip, and the watchdog timer 34 can be connected to an I / O pin of the application processor 33 A predetermined signal from the application processor 33 is received. The reliability of the external watchdog timer 34 is high.
  • the watchdog timer 34 may be integrated in the application processor 33, and the functions of the watchdog timer 34 may be implemented by an internal timer of the application processor 33, which may simplify the hardware circuit design of the control system 30.
  • the watchdog timer 34 is further configured to issue a reset signal for restarting the application processor 33 when a predetermined signal is not received within a predetermined period of time. As mentioned above, when the monitoring timer 34 does not receive a predetermined signal within a predetermined time, the application processor 33 has failed. At this time, the monitoring timer 34 sends a reset signal to reset the application processor 33 and work normally.
  • the reset signal can be directly received by the application processor 33.
  • the reset signal has a higher level in the execution program of the application processor 33, and the application processor 33 can preferentially respond to the reset signal and reset it.
  • the reset signal may also be sent to a reset chip externally attached to the application processor 33, and the reset chip forces the application processor 33 to perform a reset after responding to the reset signal.
  • the predetermined duration is [50, 150] milliseconds.
  • the predetermined duration may be set to 50 milliseconds, 62 milliseconds, 75 milliseconds, 97 milliseconds, 125 milliseconds, 150 milliseconds, and the like, and any duration within the above-mentioned interval. It can be understood that if the predetermined duration is set too short, the application processor 33 is required to send the predetermined signal too frequently, which will take up too much processing space of the application processor 33 and cause the terminal 100 to run easily.
  • the predetermined time period is set too long, the failure of the application processor 33 cannot be detected in time, that is, the laser projector 10 cannot be turned off in time, which is not conducive to the safe use of the laser projector 10.
  • the predetermined time is set to [50, 150] milliseconds, the smoothness and security of the terminal 100 can be taken into consideration.
  • the microprocessor 35 may be a processing chip.
  • the microprocessor 35 is connected to the application processor 33, the microprocessor 35 is connected to the first driving circuit 31, and the microprocessor 35 is connected to the infrared camera 20.
  • the microprocessor 35 is connected to the application processor 33 so that the application processor 33 can reset the microprocessor 35, wake the microprocessor 35, debug the microprocessor 35, etc.
  • the Mobile Industry Processor Interface (MIPI) 351 is connected to the application processor 33.
  • the microprocessor 35 is connected to the trusted execution environment (Trusted Execution Environment) of the application processor 33 through the mobile industry processor interface 351.
  • TEE) 331 is connected to directly transfer the data in the microprocessor 35 to the trusted execution environment 331.
  • the code and memory area in the trusted execution environment 331 are controlled by the access control unit and cannot be accessed by programs in the non-trusted execution environment (REE) 332.
  • the trusted execution environment 331 and non- Each of the trusted execution environments 332 may be formed in the application processor 33.
  • the microprocessor 35 may be connected to the first driving circuit 31 through a Pulse Width Modulation (PWM) interface 352, and the microprocessor 35 and the infrared camera 20 may be connected through an I2C bus (Inter-Integrated Circuit) 70.
  • PWM Pulse Width Modulation
  • the microprocessor 35 can provide the infrared camera 20 with clock information for collecting infrared images and laser patterns, and the infrared images and laser patterns collected by the infrared camera 20 can be transmitted to the microprocessor 35 through the mobile industry processor interface 351.
  • the trusted execution environment 331 may store an infrared template and a depth template for verifying the identity.
  • the infrared template may be a face infrared image previously entered by the user, and the depth template may be a face depth image previously entered by the user. .
  • the infrared template and the depth template are stored in the trusted execution environment 331, which is not easy to be tampered with and misappropriated, and the information in the terminal 100 has high security.
  • the microprocessor 35 controls the infrared camera 20 to collect the infrared image of the user, and acquires the infrared image and transmits it to the trusted execution environment 331 of the application processor 33.
  • the application processor 33 is in the trusted execution environment.
  • the infrared image is compared with the infrared template. If the two match, the verification result of the infrared template verification is output. During the matching process, the infrared image and the infrared template will not be acquired, tampered with or misused by other programs, thereby improving the information security of the terminal 100.
  • the microprocessor 35 may control the first driving circuit 31 to drive the laser projector 10 to project laser light outward, and control the infrared camera 20 to collect a laser pattern modulated by the target object.
  • the microprocessor 35 acquires and processes the laser pattern to obtain Depth image.
  • the depth image is transmitted to the trusted execution environment 331 of the application processor 33.
  • the application processor 33 compares the depth image with the depth template in the trusted execution environment 331. If the two match, the depth template is output for verification. Passed verification results. During the matching process, the depth image and the depth template will not be acquired, tampered with or misappropriated by other programs, and the information security of the terminal 100 is improved.
  • the distance sensor 36 is connected to the application processor 33.
  • the distance sensor 36 is used to detect the distance between the human eye and the laser projector 10.
  • the distance sensor 36 may be an optical distance sensor, an infrared distance sensor, an ultrasonic distance sensor, and the like.
  • the distance sensor 36 is an infrared distance sensor is used as an example for description.
  • the distance sensor 36 includes an infrared light emitting end 361 and an infrared light receiving end 362.
  • the infrared light emitting end 361 is used to emit infrared light
  • the infrared light receiving end 362 is used to receive infrared light emitted by the infrared light emitting end 361 and reflected by the human body.
  • the distance between the human eye and the laser projector 10 is detected.
  • the distance sensor 36 may detect the distance between the human eye and the laser projector 10 according to the intensity of the infrared light received by the infrared light receiving end 362.
  • the intensity of infrared light received by the infrared light receiving end 362 is stronger, the distance between the human eye and the laser projector 10 is shorter; when the intensity of infrared light received by the infrared light receiving end 362 is weaker, the human eye and laser light The longer the distance between the projectors 10.
  • the distance sensor 36 may also detect the distance between the human eye and the laser projector 10 according to the time difference between the infrared light received by the infrared light receiving end 362 and the infrared light emitted by the infrared light emitting end 361. When the time difference is smaller, the distance between the human eye and the laser projector 10 is shorter; when the time difference is larger, the distance between the human eye and the laser projector 10 is longer.
  • the distance sensor 36 can detect that the distance between the human eye and the laser projector 10 is closer before the laser projector 10 works, and can also detect the distance between the human eye and the laser projector 10 in real time during the operation of the laser projector 10. In this way, when the distance between the human eye and the laser projector 10 changes, it can also be detected in time, and corresponding measures are taken to avoid causing harm to the human eye.
  • the distance sensor 36 detects the distance between the human eye and the laser projector 10 at a predetermined period. For example, the distance sensor 36 detects the distance between the human eye and the laser projector 10 every 500 milliseconds, so as to be able to detect the change in the distance between the human eye and the laser projector 10 in a timely manner while taking into account the power consumption of the terminal 100.
  • the frequency (or phase) of the infrared light emitted by the infrared light emitting end 361 may be the same as the frequency of the laser light projected by the laser projector 10 ( Or phase); or the wavelength of the infrared light emitted by the infrared light emitting end 361 and the wavelength of the laser light projected by the laser projector 10 may be different.
  • the wavelength of the infrared light emitted by the infrared light emitting end 361 is ⁇ 1
  • the wavelength of the laser light projected by the laser projector 10 is ⁇ 2, where ⁇ 1 ⁇ ⁇ 2.
  • the infrared light receiving end 362 is configured to receive infrared light having a wavelength of ⁇ 1
  • the infrared camera 20 is configured to receive infrared light having a wavelength of ⁇ 2.
  • the above-mentioned method of detecting the distance between the human eye and the laser projector 10 through the distance sensor 36 may be replaced by: the microprocessor 35 detects the human eye based on the laser pattern received by the infrared camera 20 The distance from the laser projector 10. At this time, the infrared camera 20 is used as a part of the control system 30.
  • the microprocessor 35 controls the first driving circuit 31 to drive the laser projector 10 to project laser light onto the target object, and controls the infrared camera 20 to collect a laser pattern modulated by the target object, and then the microprocessor 35 acquires and processes the laser pattern to An initial depth image is obtained, and the distance between the human eye and the laser projector 10 is detected based on the depth image.
  • the depth image includes depth data.
  • the process of the microprocessor 35 detecting the distance between the human eye and the laser projector 10 according to the depth image is: converting the depth data into point cloud data with three-dimensional coordinates, and the format of the point cloud data.
  • the microprocessor 35 may determine the distance between the human eye and the laser projector 10 according to the minimum value of multiple z-values of the point cloud data to ensure that the laser light projected by the laser projection module 10 will not affect the user. Cause eye damage.
  • the laser projector 10 projects laser light for infrared ranging.
  • the intensity of the laser light projected by the laser projector 10 may be less than the intensity of the laser light projected by the laser projector 10 during normal operation, so as to reduce energy consumption and ensure the ranging process. Eye safety.
  • the laser projector 10 projects laser light on a target object according to a preset period to periodically detect the distance between the human eye and the laser projector 10. For example, the laser projector 10 projects a laser to the target object every 500 milliseconds to detect the distance between the human eye and the laser projector 10 so as to be able to detect the change in distance between the human eye and the laser projector 10 in a timely manner, taking into account Power consumption of the terminal 100.
  • the microprocessor 35 may also control the infrared camera 20 to collect an infrared image of the user, and detect the distance between the human eye and the laser projector 10 according to the depth image combined with the infrared image. Specifically, the microprocessor 35 may detect the key points of the face through the infrared image to determine the two-dimensional coordinates of the human eye, and then register and align the infrared image and the depth image, and find the depth image according to the two-dimensional coordinates of the human eye. Corresponding feature points corresponding to the human eye, and then obtain the three-dimensional coordinates of the corresponding feature points, and then obtain the distance between the human eye and the laser projector 10 according to the three-dimensional coordinates of the corresponding feature points.
  • this embodiment can detect the specific position of the human eye based on the infrared image, so that the human eye and the laser projector can be more accurately detected Distance between 10.
  • the application processor 33 After detecting the distance between the human eye and the laser projector 10 through the above-mentioned methods, the application processor 33 sends a corresponding control signal to the microprocessor 35 according to the distance between the human eye and the laser projector 10, and the microprocessor 35 controls the first driving circuit 31 according to the control signal, so that the laser projector 10 projects laser light with a predetermined parameter.
  • the parameter includes at least one of a current parameter (or a power parameter, or other parameters that are positively related to the current parameter), a frame rate parameter, and a pulse width parameter. That is, the microprocessor 35 controls the first driving circuit 31 according to the control signal, so that the laser projector 10 projects the laser with a predetermined current parameter; or projects the laser with a predetermined frame rate parameter; or uses a predetermined pulse width parameter Project a laser; or project a laser with a predetermined current parameter and a predetermined frame rate parameter; or project a laser with a predetermined current parameter and a predetermined pulse width parameter; or project a laser with a predetermined frame rate parameter and a predetermined pulse width parameter; or The laser is projected with a predetermined current parameter, a predetermined frame rate parameter, and a predetermined pulse width parameter.
  • the predetermined current parameter is smaller; the predetermined frame rate parameter is smaller; the predetermined pulse width parameter is smaller The smaller.
  • the laser projector 10 can project the laser with the current parameter I0, the frame rate parameter F0, and the pulse width parameter P0 during normal operation;
  • the laser projector 10 projects the laser using the current parameter I1, the frame rate parameter F1, and the pulse width parameter P1;
  • the laser projector 10 uses the current parameter I2 and the frame rate parameter F2 2.
  • the pulse width parameter P2 projects a laser, where I2 ⁇ I1 ⁇ I0, F2 ⁇ F1 ⁇ F0, and P2 ⁇ P1 ⁇ P0.
  • the control system 30 controls the parameters of the laser projector 10 to project laser light according to the distance between the human eye and the laser projector 10, specifically, between the human eye and the laser projector 10 When the distance is small, the current parameter, frame rate parameter, and pulse width parameter of the laser beam projected by the laser projector 10 are reduced, thereby preventing harm to the eyes of the user.
  • the parameters of the laser beam projected by the laser projector 10 include a current parameter.
  • the application processor 33 is configured to send a first control signal to the microprocessor 35 when the distance between the human eye and the laser projector 10 is greater than a predetermined distance.
  • the microprocessor 35 controls the first driving circuit 31 according to the first control signal, so that the laser projector 10 projects the laser light with the first current parameter (as shown in FIG. 4 (a)).
  • the application processor 33 is configured to send a second control signal to the microprocessor 35 when the distance between the human eye and the laser projector 10 is less than or equal to a predetermined distance.
  • the microprocessor 35 controls the first driving circuit 31 according to the second control signal, so that the laser projector 10 projects the laser with a second current parameter (as shown in FIG. 4 (b)), wherein the second current parameter is smaller than the first current parameter.
  • the predetermined distance can be understood as the safety distance of the human eye.
  • the laser projector 10 can maintain the current parameter (ie, the first current parameter) during normal operation to project laser light.
  • the distance between the human eye and the laser projector 10 is less than or equal to a predetermined distance, the distance between the human eye and the laser projector 10 is too close, and the laser projector 10 needs to reduce the current parameter to ensure the safety of the human eye.
  • the parameters of the laser beam projected by the laser projector 10 include a frame rate parameter.
  • the application processor 33 is configured to send a first control signal to the microprocessor 35 when the distance between the human eye and the laser projector 10 is greater than a predetermined distance.
  • the microprocessor 35 controls the first driving circuit 31 according to the first control signal, so that the laser projector 10 projects the laser light with the first frame rate parameter (as shown in FIG. 5 (a)).
  • the application processor 33 is configured to send a second control signal to the microprocessor 35 when the distance between the human eye and the laser projector 10 is less than or equal to a predetermined distance.
  • the microprocessor 35 controls the first driving circuit 31 according to the second control signal, so that the laser projector 10 projects the laser at a second frame rate parameter (as shown in FIG. 5 (a)), where the second frame rate parameter is smaller than the first frame rate parameter.
  • the predetermined distance can be understood as the safety distance of the human eye.
  • the laser projector 10 can maintain the frame rate parameter (that is, the first frame rate parameter) during normal operation to project laser light.
  • the distance between the human eye and the laser projector 10 is less than or equal to a predetermined distance, the distance between the human eye and the laser projector 10 is too close, and the laser projector 10 needs to reduce the frame rate parameter to ensure human eye safety.
  • the parameters of the laser beam projected by the laser projector 10 include pulse width parameters.
  • the application processor 33 is configured to send a first control signal to the microprocessor 35 when the distance between the human eye and the laser projector 10 is greater than a predetermined distance.
  • the microprocessor 35 controls the first driving circuit 31 according to the first control signal, so that the laser projector 10 projects the laser light with the first pulse width parameter (as shown in FIG. 6 (a)).
  • the application processor 33 is configured to send a second control signal to the microprocessor 35 when the distance between the human eye and the laser projector 10 is less than or equal to a predetermined distance.
  • the microprocessor 35 controls the first driving circuit 31 according to the second control signal, so that the laser projector 10 projects laser light with a second pulse width parameter (as shown in FIG. 6 (a)), wherein the second pulse width parameter is smaller than the first pulse width parameter.
  • the predetermined distance can be understood as the safety distance of the human eye.
  • the laser projector 10 can maintain the pulse width parameter (ie, the first pulse width parameter) during normal operation to project laser light.
  • the distance between the human eye and the laser projector 10 is less than or equal to a predetermined distance, the distance between the human eye and the laser projector 10 is too close, and the laser projector 10 needs to reduce the pulse width parameter to ensure human eye safety.
  • the laser projector 10 according to the embodiment of the present application is connected to the first driving circuit 31.
  • the control method of the laser projector 10 includes:
  • the distance sensor 36 detects the distance between the human eye and the laser projector 10;
  • the application processor 33 sends a corresponding control signal to the microprocessor 35 according to the distance between the human eye and the laser projector 10;
  • the microprocessor 35 controls the first driving circuit 31 according to the control signal so that the laser projector 10 projects laser light with a predetermined parameter.
  • the control method of the embodiment of the present application controls parameters of the laser projector 10 to project laser light according to the distance between the human eye and the laser projector 10, and specifically, when the distance between the human eye and the laser projector 10 is small, the laser projector is lowered. 10
  • the current parameters, frame rate parameters and pulse width parameters of the projected laser thereby preventing harm to the eyes of the user.
  • step 10 may be replaced with step 11, step 12, and step 13, that is, the control method of the laser projector 10 may include:
  • the first driving circuit 31 drives the laser projector 10 to project laser light onto a target object
  • the infrared camera 20 receives the laser pattern modulated by the target object
  • the microprocessor 35 processes the laser pattern to obtain the distance between the human eye and the laser projector 10;
  • the application processor 33 sends a corresponding control signal to the microprocessor 35 according to the distance between the human eye and the laser projector 10;
  • the microprocessor 35 controls the first driving circuit 31 according to the control signal so that the laser projector 10 projects laser light with a predetermined parameter.
  • the step (that is, step 20) in which the application processor 33 sends a corresponding control signal to the microprocessor 35 according to the distance between the human eye and the laser projector 10 includes:
  • the application processor 33 sends a first control signal to the microprocessor 35 when the distance between the human eye and the laser projector 10 is greater than a predetermined distance;
  • the application processor 33 sends a second control signal to the microprocessor 35 when the distance between the human eye and the laser projector 10 is less than or equal to a predetermined distance.
  • the parameters include a current parameter.
  • the microprocessor 35 controls the first driving circuit 31 according to a control signal to cause the laser projector 10 to project laser light with a predetermined parameter (ie, step 30). )include:
  • the microprocessor 35 controls the first driving circuit 31 according to the first control signal, so that the laser projector 10 projects the laser light with the first current parameter;
  • the microprocessor 35 controls the first driving circuit 31 according to the second control signal, so that the laser projector 10 projects laser light with a second current parameter, wherein the second current parameter is smaller than the first current parameter.
  • the parameter includes a frame rate parameter
  • the step (that is, step 50) of the microprocessor 35 controlling the first driving circuit 31 to cause the laser projector 10 to project laser light with a predetermined parameter according to a control signal includes:
  • the microprocessor 35 controls the first driving circuit 31 according to the first control signal, so that the laser projector 10 projects the laser light with the first frame rate parameter;
  • the microprocessor 35 controls the first driving circuit 31 according to the second control signal, so that the laser projector 10 projects the laser at a second frame rate parameter, where the second frame rate parameter is smaller than the first frame rate parameter
  • the parameter includes a pulse width parameter
  • the step (that is, step 50) of the microprocessor 35 controlling the first driving circuit 31 to cause the laser projector 10 to project laser light with a predetermined parameter according to a control signal includes:
  • the microprocessor 35 controls the first driving circuit 31 according to the first control signal, so that the laser projector 10 projects the laser light with the first pulse width parameter;
  • the microprocessor 35 controls the first driving circuit 31 according to the second control signal, so that the laser projector 10 projects laser light with a second pulse width parameter, wherein the second pulse width parameter is smaller than the first pulse width parameter.
  • an embodiment of the present application further provides a laser projection assembly 60.
  • the laser projection assembly 60 includes a laser projector 10, a first driving circuit 31, a second driving circuit 32, and a watchdog timer 34.
  • the first driving circuit 31, the second driving circuit 32, and the watchdog timer 34 may all be integrated on the substrate assembly 11 of the laser projector 10.
  • the laser projector 10 includes a substrate assembly 11, a lens barrel 12, a light source 13, a collimating element 14, a diffractive optical element (DOE) 15, and a protective cover 16.
  • DOE diffractive optical element
  • the substrate assembly 11 includes a substrate 111 and a circuit board 112.
  • the circuit board 112 is disposed on the substrate 111.
  • the circuit board 112 is used to connect the light source 13 and the main board of the terminal 100.
  • the circuit board 112 may be a rigid board, a flexible board, or a rigid-flexible board. In the embodiment shown in FIG. 12, the circuit board 112 is provided with a through hole 1121.
  • the light source 13 is fixed on the substrate 111 and is electrically connected to the circuit board 112.
  • the substrate 111 may be provided with a heat dissipation hole 1111.
  • the heat generated by the light source 13 or the circuit board 112 may be dissipated through the heat dissipation hole 1111.
  • the heat dissipation glue may be filled in the heat dissipation hole 1111 to further improve the heat dissipation performance of the substrate assembly 11.
  • the lens barrel 12 is fixedly connected to the substrate assembly 11.
  • the lens barrel 12 is formed with a receiving cavity 121.
  • the lens barrel 12 includes a top wall 122 and an annular peripheral wall 124 extending from the top wall 122.
  • the peripheral wall 124 is disposed on the substrate assembly 11 and the top wall 122.
  • a light-passing hole 1212 is formed to communicate with the receiving cavity 121.
  • the peripheral wall 124 may be connected to the circuit board 112 by an adhesive.
  • the protective cover 16 is provided on the top wall 122.
  • the protective cover 16 includes a baffle plate 162 having a light emitting through hole 160 and an annular side wall 164 extending from the baffle plate 162.
  • the light source 13 and the collimating element 14 are both disposed in the accommodating cavity 121.
  • the diffractive optical element 15 is mounted on the lens barrel 12.
  • the collimating element 14 and the diffractive optical element 15 are sequentially disposed on the light emitting light path of the light source 13.
  • the collimating element 14 collimates the laser light emitted from the light source 13.
  • the laser light passes through the collimating element 14 and then passes through the diffractive optical element 15 to form a laser pattern.
  • the light source 13 may be a vertical cavity surface emitting laser (Vertical Cavity Surface Laser, VCSEL) or an edge-emitting laser (EEL). In the embodiment shown in FIG. 12, the light source 13 is an edge-emitting laser. Ground, the light source 13 may be a distributed feedback laser (Distributed Feedback Laser, DFB).
  • the light source 13 is configured to emit laser light into the receiving cavity 121. With reference to FIG. 13, the light source 13 is in a column shape as a whole.
  • a light emitting surface 131 is formed on one end surface of the light source 13 away from the substrate assembly 11. Laser light is emitted from the light emitting surface 131 and the light emitting surface 131 faces the collimating element 14.
  • the light source 13 is fixed on the substrate assembly 11.
  • the light source 13 may be adhered to the substrate assembly 11 through a sealant 17.
  • a side of the light source 13 opposite to the light emitting surface 131 is adhered to the substrate assembly 11.
  • the side surface 132 of the light source 13 may also be bonded to the substrate assembly 11, and the sealing compound 17 may surround the surrounding side surfaces 132, or only one of the sides of the side surface 132 may be bonded to the substrate assembly 11 or adhesively.
  • the sealant 17 may be a thermally conductive adhesive to conduct the heat generated by the light source 13 to the substrate assembly 11.
  • the diffractive optical element 15 is carried on the top wall 122 and is contained in the protective cover 16. The opposite sides of the diffractive optical element 15 are in contact with the protective cover 16 and the top wall 122 respectively.
  • the baffle 162 includes an abutting surface 1622 near the light through hole 1212, and the diffractive optical element 15 is in abutment with the abutting surface 1622.
  • the diffractive optical element 15 includes a diffractive incidence surface 152 and a diffractive emission surface 154 opposite to each other.
  • the diffractive optical element 15 is carried on the top wall 122.
  • the diffractive output surface 154 is in contact with the surface (abutting surface 1622) of the baffle 162 near the light through hole 1212, and the diffractive incidence surface 152 is in contact with the top wall 122.
  • the light-through hole 1212 is aligned with the receiving cavity 121, and the light-through hole 160 is aligned with the light-through hole 1212.
  • the top wall 122, the annular side wall 164, and the baffle plate 162 are in contact with the diffractive optical element 15 so as to prevent the diffractive optical element 15 from falling out of the protective cover 16 in the light emitting direction.
  • the protective cover 16 is adhered to the top wall 122 by glue.
  • the light source 13 of the laser projector 10 described above uses an edge emitting laser.
  • the edge emitting laser has a lower temperature drift than the VCSEL array.
  • the edge emitting laser is a single-point light emitting structure, there is no need to design an array structure, and the production is simple. The cost of the light source of the laser projector 10 is low.
  • the gain of the power is obtained through the feedback of the grating structure.
  • the sealant 17 can fix the side-emitting laser and prevent the side-emitting laser from being dropped, displaced or shaken.
  • the light source 13 may also be fixed on the substrate assembly 11 in a fixing manner as shown in FIG. 15.
  • the laser projector 10 includes a plurality of support blocks 18.
  • the support blocks 18 may be fixed on the substrate assembly 11.
  • the plurality of support blocks 18 collectively surround the light source 13.
  • the light source 13 may be directly mounted on the plurality of support blocks 18 during installation. between.
  • the light source 13 is clamped by a plurality of supporting blocks 18 to further prevent the light source 13 from shaking.
  • the protective cover 16 may be omitted.
  • the diffractive optical element 15 may be disposed in the receiving cavity 121, the diffractive output surface 154 of the diffractive optical element 15 may abut the top wall 122, and the laser light passes through the diffractive optical element 15 Then pass through the light-passing hole 1212 again. In this way, the diffractive optical element 15 is less likely to fall off.
  • the substrate 111 may be omitted, and the light source 13 may be directly fixed on the circuit board 112 to reduce the overall thickness of the laser projector 10.
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality" is at least two, for example, two, three, unless it is specifically and specifically defined otherwise.

Abstract

一种激光投射器(10)的控制系统(30)、终端(100)和激光投射器(10)的控制方法。控制系统(30)包括第一驱动电路(31)、微处理器(35)和应用处理器(33)。第一驱动电路(31)与激光投射器(10)连接。第一驱动电路(31)用于驱动激光投射器(10)投射激光。微处理器(35)与第一驱动电路(31)连接。应用处理器(33)与微处理器(35)连接。应用处理器(33)用于根据人眼与激光投射器(10)之间的距离发送对应的控制信号至微处理器(35)。微处理器(35)根据控制信号控制第一驱动电路(31)，以使激光投射器(10)以预定参数投射激光。

Description

激光投射器的控制系统、终端和激光投射器的控制方法
优先权信息
本申请请求2018年5月30日向中国国家知识产权局提交的、专利申请号为201810540382.5和201810539043.5的专利申请的优先权和权益，并且通过参照将其全文并入此处。
技术领域
本申请涉及消费性电子技术领域，更具体而言，涉及一种激光投射器的控制系统、终端和激光投射器的控制方法。
背景技术
手机上可以配置有激光发生器，激光投射器可投射带有预定图案信息的激光，并将激光投射到位于空间中的目标用户上，再通过成像装置获取由目标用户反射的激光图案，以进一步获得目标用户的深度图像。
发明内容
本申请实施方式提供一种激光投射器的控制系统、终端和激光投射器的控制方法。
本申请实施方式的激光投射器的控制系统包括第一驱动电路、微处理器和应用处理器，所述第一驱动电路与所述激光投射器连接，所述第一驱动电路用于驱动所述激光投射器投射激光；所述微处理器与所述第一驱动电路连接；所述应用处理器与所述微处理器连接，所述应用处理器用于根据人眼与所述激光投射器之间的距离发送对应的控制信号至所述微处理器，所述微处理器根据所述控制信号控制所述第一驱动电路，以使所述激光投射器以预定参数投射激光。
本申请实施方式的终端包括激光投射器和上述实施方式所述的控制系统，所述第一驱动电路与所述激光投射器连接。
本申请实施方式的激光投射器与第一驱动电路连接，所述激光投射器的控制方法包括：应用处理器根据人眼与所述激光投射器之间的距离发送对应的控制信号至微处理器；和所述微处理器根据所述控制信号控制所述第一驱动电路以使所述激光投射器以预定参数投射激光。
本申请的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实施方式的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本申请实施方式的终端的结构示意图；
图2至图3是本申请实施方式的终端的模块示意图；
图4是本申请实施方式的激光投射器投射激光的电流参数的示意图；
图5是本申请实施方式的激光投射器投射激光的帧率参数的示意图；
图6是本申请实施方式的激光投射器投射激光的脉宽参数的示意图；
图7至图11是本申请实施方式的激光投射器的控制方法的流程示意图；
图12是本申请实施方式的激光投射组件的结构示意图；
图13至图15是本申请实施方式的激光投射器的部分结构示意图。
具体实施方式
以下结合附图对本申请的实施方式作进一步说明。附图中相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。
另外，下面结合附图描述的本申请的实施方式是示例性的，仅用于解释本申请的实施方式，而不能理解为对本申请的限制。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
请参阅图1和图2，本申请实施方式的终端100包括激光投射器10、红外摄像头20和控制系统30。终端100可以是手机、平板电脑、智能手表、智能手环、智能穿戴设备等，在本申请实施例中，以终端100是手机为例进行说明，可以理解，终端100的具体形式并不限于手机。
激光投射器10能够向目标物体投射激光，激光可以是红外光，同时激光投射器10投射的激光可以是带有特定的散斑或条纹等图案。红外摄像头20能够采集目标物体的红外图像，或接收由目标物体调制后的激光图案。为了能够得到较为清晰的激光图案，通常需要以一定的光功率向目标物体连续发射多帧激光。
控制系统30包括第一驱动电路31、第二驱动电路32、应用处理器(Application Processor)33和监视定时器34、微处理器35和距离传感器36。
第一驱动电路31与激光投射器10连接，第一驱动电路31可用于驱动激光投射器10投射激光，具体地，第一驱动电路31作为激光投射器10的电流源，如果第一驱动电路31被关闭，则激光投射器10无法向外发射激光。第二驱动电路32与第一驱动电路31连接，第二驱动电路32可用于给第一驱动电路31供电，例如第一驱动电路31可以是DC/DC电路。第一驱动电路31可以单独封装成驱动芯片，第二驱动电路32也可以单独封装成驱动芯片，也可以是第一驱动电路31和第二驱动电路32共同封装在一个驱动芯片内，而驱动芯片均可以设置在激光投射器10的基板或电路板上。
应用处理器33可以作为终端100的系统，应用处理器33可以与第一驱动电路31连接、应用处理器33还可以与红外摄像头20连接。应用处理器33还可以与终端100的多个电子元器件连接并控制该多个电子元器件按照预定的模式运行，例如控制终端100的显示屏显示预定的画面、控制终端100的天线发送或接收预定的数据、控制终端100的可见光摄像头50获取彩色图像并处理该彩色图像、控制红外摄像头20的电源的启闭、关闭(pwdn)红外摄像头20或重置(reset)红外摄像头20等。
应用处理器33还可用于控制第一驱动电路31工作以驱动激光投射器10投射激光，可以理解，在应用处理器33运行故障时，例如应用处理器33宕机时，第一驱动电路31可能刚好处于持续驱动激光投射器10发射激光的状态，而持续向外发射的激光具有较高的危险性，可能灼伤用户，尤其容易伤害用户的眼睛。因此，需要监控应用处理器33的运行状态，并在应用处理器33运行故障时，及时关闭激光投射器10。
为了使应用处理器33的运行状态受到监控，应用处理器33以预定时间间隔向监视定时器34发送预定信号，例如每隔50毫秒向监视定时器34发送清零信号，当应用处理器33运行故障时，应用处理器33无法运行向监视定时器34发送预定信号的程序，因此无法发送预定信号而使应用处理器33的故障状态被检测到。
请继续参阅图1和图2，监视定时器34与第一驱动电路31连接，监视定时器34与应用处理器33连接，监视定时器34用于在预定时长内未接收到预定信号时，关闭第一驱动电路31以关闭激光投射器10。其中预定时长可以是终端100在出厂时设定好的，也可以依据用户在终端100上进行自定义设置。
具体地，本申请实施例中，监视定时器34的具体形式可以是计数器，监视定时器34接收到预定信号后，监视定时器34从一个数字开始以一定的速度开始倒计数。如果应用处理器33正常工作，在倒计数到0之前，应用处理器33会再发送预定信号， 监视定时器34接收到预定信号后将倒计数复位；如果应用处理器33不正常工作，监视定时器34计数到0时，监视定时器34视为判断应用处理器33运行故障，此时监视定时器34发出信号关闭第一驱动电路31以使激光投射器10关闭。
在一个例子中，监视定时器34可以设置在应用处理器33外，监视定时器34可以是一个外挂的定时器芯片，监视定时器34可以与应用处理器33的一个I/O引脚相连接而接收应用处理器33发出的预定信号。外挂的监视定时器34工作的可靠性较高。在另一个例子中，监视定时器34可以集成在应用处理器33内，监视定时器34的功能可以由应用处理器33的内部定时器实现，如此可以简化控制系统30的硬件电路设计。
在某些实施方式中，监视定时器34还用于在预定时长内未接收到预定信号时，发出用于重启应用处理器33的复位信号。如前述，当监视定时器34在预定时长内未接收到预定信号时，应用处理器33已经发生故障，此时，监视定时器34发出复位信号以使应用处理器33复位并正常工作。
具体地，在一个例子中，复位信号可以直接由应用处理器33接收，复位信号在应用处理器33的执行程序中拥有较高的级别，应用处理器33能够优先对复位信号产生响应并进行复位。在另一个例子中，复位信号也可以发送到外挂在应用处理器33上的复位芯片上，复位芯片响应复位信号后强制应用处理器33进行复位。
在某些实施方式中，预定时长为[50，150]毫秒。具体地，预定时长可以设置为50毫秒、62毫秒、75毫秒、97毫秒、125毫秒、150毫秒等及任意在上述区间内的时长。可以理解，如果预定时长设置的过短，则要求应用处理器33过于频繁地发送预定信号，会占用应用处理器33过多的处理空间而造成终端100运行容易发生卡顿。如果预定时长设置的过长，则应用处理器33的故障不能及时地被检测到，也就是不能及时地将激光投射器10关闭，不利于安全使用激光投射器10。将预定时长设置为[50，150]毫秒，能够较好地兼顾终端100的流畅度和安全性。
请参阅图2，微处理器35可以是处理芯片，微处理器35与应用处理器33、微处理器35与第一驱动电路31、微处理器35与红外摄像头20均连接。
微处理器35与应用处理器33连接以使应用处理器33可以重置微处理器35、唤醒(wake)微处理器35、纠错(debug)微处理器35等，微处理器35可通过移动产业处理器接口(Mobile Industry Processor Interface，MIPI)351与应用处理器33连接，具体地，微处理器35通过移动产业处理器接口351与应用处理器33的可信执行环境(Trusted Execution Environment，TEE)331连接，以将微处理器35中的数据直接传输到可信执行环境331中。其中，可信执行环境331中的代码和内存区域都是受访问 控制单元控制的，不能被非可信执行环境(Rich Execution Environment，REE)332中的程序所访问，可信执行环境331和非可信执行环境332均可以形成在应用处理器33中。
微处理器35可以通过脉冲宽度调制接口(Pulse Width Modulation，PWM)352与第一驱动电路31连接，微处理器35与红外摄像头20可以通过I2C总线(Inter-Integrated Circuit)70连接，微处理器35可以给红外摄像头20提供采集红外图像和激光图案的时钟信息，红外摄像头20采集的红外图像和激光图案可以通过移动产业处理器接口351传输到微处理器35中。
在一个实施例中，可信执行环境331中可以存储有用于验证身份的红外模板和深度模板，红外模板可以是用户预先输入的人脸红外图像，深度模板可以是用户预先输入的人脸深度图像。红外模板与深度模板存储在可信执行环境331中，不容易被篡改和盗用，终端100内的信息的安全性较高。
当用户需要验证身份时，微处理器35控制红外摄像头20采集用户的红外图像，并获取该红外图像后传输至应用处理器33的可信执行环境331中，应用处理器33在可信执行环境331中将该红外图像与红外模板进行比对，如果二者相匹配，则输出红外模板验证通过的验证结果。在比对是否匹配的过程中，红外图像和红外模板不会被其他程序获取、篡改或盗用，提高终端100的信息安全性。
进一步地，微处理器35可以控制第一驱动电路31驱动激光投射器10向外投射激光，且控制红外摄像头20采集由目标物体调制的激光图案，微处理器35获取并处理该激光图案以得到深度图像。该深度图像传输至应用处理器33的可信执行环境331中，应用处理器33在可信执行环境331中将该深度图像与深度模板进行比对，如果二者相匹配，则输出深度模板验证通过的验证结果。在比对是否匹配的过程中，深度图像和深度模板不会被其他程序获取、篡改或盗用，提高终端100的信息安全性。
距离传感器36与应用处理器33连接，距离传感器36用于检测人眼与激光投射器10之间的距离。距离传感器36可以是光学距离传感器、红外距离传感器、超声波距离传感器等，在本申请实施例中，以距离传感器36是红外距离传感器为例进行说明。距离传感器36包括红外光发射端361和红外光接收端362，红外光发射端361用于发射红外光，红外光接收端362用于接收红外光发射端361发射并经人体反射的红外光，以检测人眼与激光投射器10之间的距离。具体地，距离传感器36可根据红外光接收端362接收到的红外光的强度来检测人眼与激光投射器10之间的距离。当红外光接收端362接收到的红外光的强度越强，人眼与激光投射器10之间的距离越近；当红外光接收端362接收到的红外光的强度越弱，人眼与激光投射器10之间的距离 越远。距离传感器36也可根据红外光接收端362接收到红外光与红外光发射端361发射红外光之间时间差来检测人眼与激光投射器10之间的距离。当该时间差越小，人眼与激光投射器10之间的距离越近；当该时间差越大，人眼与激光投射器10之间的距离越远。
距离传感器36可以在激光投射器10工作前检测人眼与激光投射器10之间的距离越近，也可以在激光投射器10工作过程中实时检测人眼与激光投射器10之间的距离。如此，当人眼与激光投射器10之间的距离发生变化时，也能被及时地检测到，从而采取相应的措施以避免对人眼造成伤害。
在一个实施例中，距离传感器36按照预定周期检测人眼与激光投射器10之间的距离。例如，距离传感器36每隔500毫秒检测一次人眼与激光投射器10之间的距离，以能够及时地检测到人眼与激光投射器10之间的距离变化，并兼顾终端100的功耗。
为了确保红外光发射端361发射的红外光不会与激光投射器10投射的激光相互造成干扰，红外光发射端361发射红外光的频率(或相位)可以与激光投射器10投射激光的频率(或相位)不同；或者红外光发射端361发射的红外光的波长与激光投射器10投射的激光的波长可以不同。例如，红外光发射端361发射的红外光的波长为λ1，激光投射器10投射的激光的波长为λ2，其中，λ1≠λ2。与之对应的，红外光接收端362用于接收波长为λ1的红外光，红外摄像头20用于接收波长为λ2的红外光。
请参阅图3，在某些实施方式中，上述通过距离传感器36检测人眼与激光投射器10之间的距离的方式可以替换为：微处理器35根据红外摄像头20接收的激光图案检测人眼与激光投射器10之间的距离。此时，红外摄像头20作为控制系统30的一部分。
具体地，微处理器35控制第一驱动电路31驱动激光投射器10向目标物体投射激光，且控制红外摄像头20采集由目标物体调制的激光图案，然后微处理器35获取并处理该激光图案以得到初始的深度图像，再根据深度图像检测人眼与激光投射器10之间的距离。可以理解，深度图像包括深度数据，微处理器35根据深度图像检测人眼与激光投射器10之间的距离的过程为：将深度数据转化为具有三维坐标的点云数据，点云数据的格式为(x，y，z)；然后对点云数据进行滤波处理，以去除离群点和噪声；再根据滤波处理欧的点云数据的z值来获取人眼与激光投射器10之间的距离。在一个例子中，微处理器35可以根据点云数据的多个z值中的最小值确定人眼与激光投射器10之间的距离，以确保激光投射模组10投射的激光不会对用户的眼睛造成伤害。本实施例中，激光投射器10投射激光用于红外测距，激光投射器10投射 的激光的强度可以小于激光投射器10正常工作时投射的激光的强度，以减少能耗和保证测距过程中人眼的安全。
在一个实施例中，激光投射器10按照预设周期向目标物体投射激光，以周期性地检测人眼与激光投射器10之间的距离。例如，激光投射器10每隔500毫秒向目标物体投射一次激光检测人眼与激光投射器10之间的距离，以能够及时地检测到人眼与激光投射器10之间的距离变化，并兼顾终端100的功耗。
在某些实施方式中，微处理器35还可以控制红外摄像头20采集用户的红外图像，并根据深度图像结合红外图像来检测人眼与激光投射器10之间的距离。具体地，微处理器35可通过红外图像进行人脸关键点的检测以确定人眼的二维坐标，然后将红外图像和深度图像进行配准对齐，根据人眼的二维坐标查找深度图像中与人眼对应的对应特征点，然后获取对应特征点的三维坐标，再根据对应特征点的三维坐标获取人眼与激光投射器10之间的距离。相对于直接根据深度图像检测人眼与激光投射器10之间的距离的方式而言，本实施方式能够根据红外图像检测人眼的具体位置，从而能够更加精确的检测出人眼与激光投射器10之间的距离。
在通过上述各方式检测出人眼与激光投射器10之间的距离后，应用处理器33根据人眼与激光投射器10之间的距离发送对应的控制信号至微处理器35，微处理器35再根据控制信号控制第一驱动电路31，以使激光投射器10以预定参数投射激光。
具体地，该参数包括电流参数(或功率参数，或其他与电流参数成正相关的参数)、帧率参数、脉宽参数中的至少一种。也即是说，微处理器35根据控制信号控制第一驱动电路31，以使激光投射器10以预定的电流参数投射激光；或者以预定的帧率参数投射激光；或者以预定的脉宽参数投射激光；或者以预定的电流参数和预定的帧率参数投射激光；或者以预定的电流参数和预定的脉宽参数投射激光；或者以预定的帧率参数和预定的脉宽参数投射激光；或者以预定的电流参数、预定的帧率参数和预定的脉宽参数投射激光。
为了防止激光投射器10投射的激光对人眼造成伤害，当人眼与激光投射器10之间的距离越小时，预定的电流参数越小；预定的帧率参数越小；预定的脉宽参数越小。例如，假设人眼与激光投射器10之间的距离为d，当距离d≥20cm时，激光投射器10可以以正常工作时的电流参数I0、帧率参数F0、脉宽参数P0投射激光；当距离10≤d＜20cm时，激光投射器10以电流参数I1、帧率参数F1、脉宽参数P1投射激光；当距离d＜10cm时，激光投射器10以电流参数I2、帧率参数F2、脉宽参数P2投射激光，其中，I2＜I1＜I0，F2＜F1＜F0，P2＜P1＜P0。
综上，本申请实施方式的终端100中，控制系统30根据人眼与激光投射器10之 间的距离控制激光投射器10投射激光的参数，具体地在人眼与激光投射器10之间的距离较小时，降低激光投射器10投射激光的电流参数、帧率参数和脉宽参数，从而防止对用户的眼睛产生危害。
请结合图4，在某些实施方式中，激光投射器10投射激光的参数包括电流参数。应用处理器33用于在人眼与激光投射器10之间的距离大于预定距离时发送第一控制信号至微处理器35。微处理器35根据第一控制信号控制第一驱动电路31，以使激光投射器10以第一电流参数投射激光(如图4(a)所示)。应用处理器33用于在人眼与激光投射器10之间的距离小于或等于预定距离时发送第二控制信号至微处理器35。微处理器35根据第二控制信号控制第一驱动电路31，以使激光投射器10以第二电流参数投射激光(如图4(b)所示)，其中，第二电流参数小于第一电流参数。可以理解，预定距离可以理解为人眼的安全距离，当人眼与激光投射器10之间的距离大于预定距离时，只要激光投射器10的衍射光学元件、准直元件等不发生破裂、脱落等情况，激光投射器10可维持正常工作时的电流参数(即第一电流参数)投射激光。而当人眼与激光投射器10之间的距离小于或等于预定距离时，人眼与激光投射器10之间的距离过近，激光投射器10需要降低电流参数，以确保人眼安全。
请结合图5，在某些实施方式中，激光投射器10投射激光的参数包括帧率参数。应用处理器33用于在人眼与激光投射器10之间的距离大于预定距离时发送第一控制信号至微处理器35。微处理器35根据第一控制信号控制第一驱动电路31，以使激光投射器10以第一帧率参数投射激光(如图5(a)所示)。应用处理器33用于在人眼与激光投射器10之间的距离小于或等于预定距离时发送第二控制信号至微处理器35。微处理器35根据第二控制信号控制第一驱动电路31，以使激光投射器10以第二帧率参数投射激光(如图5(a)所示)，其中，第二帧率参数小于第一帧率参数。可以理解，预定距离可以理解为人眼的安全距离，当人眼与激光投射器10之间的距离大于预定距离时，只要激光投射器10的衍射光学元件、准直元件等不发生破裂、脱落等情况，激光投射器10可维持正常工作时的帧率参数(即第一帧率参数)投射激光。而当人眼与激光投射器10之间的距离小于或等于预定距离时，人眼与激光投射器10之间的距离过近，激光投射器10需要降低帧率参数，以确保人眼安全。
请结合图6，在某些实施方式中，激光投射器10投射激光的参数包括脉宽参数。应用处理器33用于在人眼与激光投射器10之间的距离大于预定距离时发送第一控制信号至微处理器35。微处理器35根据第一控制信号控制第一驱动电路31，以使激光投射器10以第一脉宽参数投射激光(如图6(a)所示)。应用处理器33用于在人眼与激光投射器10之间的距离小于或等于预定距离时发送第二控制信号至微处理器35。 微处理器35根据第二控制信号控制第一驱动电路31，以使激光投射器10以第二脉宽参数投射激光(如图6(a)所示)，其中，第二脉宽参数小于第一脉宽参数。可以理解，预定距离可以理解为人眼的安全距离，当人眼与激光投射器10之间的距离大于预定距离时，只要激光投射器10的衍射光学元件、准直元件等不发生破裂、脱落等情况，激光投射器10可维持正常工作时的脉宽参数(即第一脉宽参数)投射激光。而当人眼与激光投射器10之间的距离小于或等于预定距离时，人眼与激光投射器10之间的距离过近，激光投射器10需要降低脉宽参数，以确保人眼安全。
请参阅图2和图7，本申请实施方式的激光投射器10与第一驱动电路31连接，激光投射器10的控制方法包括：
10：距离传感器36检测人眼与激光投射器10之间的距离；
20：应用处理器33根据人眼与激光投射器10之间的距离发送对应的控制信号至微处理器35；和
30：微处理器35根据控制信号控制第一驱动电路31以使激光投射器10以预定参数投射激光。
本申请实施方式的控制方法根据人眼与激光投射器10之间的距离控制激光投射器10投射激光的参数，具体地在人眼与激光投射器10之间的距离较小时，降低激光投射器10投射激光的电流参数、帧率参数和脉宽参数，从而防止对用户的眼睛产生危害。控制方法的实施细节可以参考上述对终端100的具体描述，在此不再赘述。
请参阅图3和图8，上述步骤10可替换为步骤11、步骤12和步骤13，也即是说，激光投射器10的控制方法可包括：
11：第一驱动电路31驱动激光投射器10向目标物体投射激光；
12：红外摄像头20接收由目标物体调制后的激光图案；
13：微处理器35处理激光图案以获取人眼与激光投射器10之间的距离；
20：应用处理器33根据人眼与激光投射器10之间的距离发送对应的控制信号至微处理器35；和
30：微处理器35根据控制信号控制第一驱动电路31以使激光投射器10以预定参数投射激光。
请结合图9，在某些实施方式中，应用处理器33根据人眼与激光投射器10之间的距离发送对应的控制信号至微处理器35的步骤(即步骤20)包括：
21：应用处理器33在人眼与激光投射器10之间的距离大于预定距离时发送第一控制信号至微处理器35；和
22：应用处理器33在人眼与激光投射器10之间的距离小于或等于预定距离时发 送第二控制信号至微处理器35。
请结合图10和图11，在某些实施方式中，参数包括电流参数，微处理器35根据控制信号控制第一驱动电路31以使激光投射器10以预定参数投射激光的步骤(即步骤30)包括：
31：微处理器35根据第一控制信号控制第一驱动电路31，以使激光投射器10以第一电流参数投射激光；和
32：微处理器35根据第二控制信号控制第一驱动电路31，以使激光投射器10以第二电流参数投射激光，其中，第二电流参数小于第一电流参数。
在某些实施方式中，参数包括帧率参数，微处理器35根据控制信号控制第一驱动电路31以使激光投射器10以预定参数投射激光的步骤(即步骤50)包括：
33：微处理器35根据第一控制信号控制第一驱动电路31，以使激光投射器10以第一帧率参数投射激光；和
34：微处理器35根据第二控制信号控制第一驱动电路31，以使激光投射器10以第二帧率参数投射激光，其中，第二帧率参数小于第一帧率参数
在某些实施方式中，参数包括脉宽参数，微处理器35根据控制信号控制第一驱动电路31以使激光投射器10以预定参数投射激光的步骤(即步骤50)包括：
35：微处理器35根据第一控制信号控制第一驱动电路31，以使激光投射器10以第一脉宽参数投射激光；和
36：微处理器35根据第二控制信号控制第一驱动电路31，以使激光投射器10以第二脉宽参数投射激光，其中，第二脉宽参数小于第一脉宽参数。
请参阅图12，本申请实施方式还提供一种激光投射组件60，激光投射组件60包括激光投射器10、第一驱动电路31、第二驱动电路32和监视定时器34。此时，第一驱动电路31、第二驱动电路32和监视定时器34均可以集成到激光投射器10的基板组件11上。
请参阅图12，在某些实施方式中，激光投射器10包括基板组件11、镜筒12、光源13、准直元件14、衍射光学元件(diffractive optical elements，DOE)15、及保护盖16。
基板组件11包括基板111和电路板112。电路板112设置在基板111上，电路板112用于连接光源13与终端100的主板，电路板112可以是硬板、软板或软硬结合板。在如图12所示的实施例中，电路板112上开设有通孔1121，光源13固定在基板111上并与电路板112电连接。基板111上可以开设有散热孔1111，光源13或电路板112工作产生的热量可以由散热孔1111散出，散热孔1111内还可以填充导热胶，以进一 步提高基板组件11的散热性能。
镜筒12与基板组件11固定连接，镜筒12形成有收容腔121，镜筒12包括顶壁122及自顶壁122延伸的环形的周壁124，周壁124设置在基板组件11上，顶壁122开设有与收容腔121连通的通光孔1212。周壁124可以与电路板112通过粘胶连接。
保护盖16设置在顶壁122上。保护盖16包括开设有出光通孔160的挡板162及自挡板162延伸的环形侧壁164。
光源13与准直元件14均设置在收容腔121内，衍射光学元件15安装在镜筒12上，准直元件14与衍射光学元件15依次设置在光源13的发光光路上。准直元件14对光源13发出的激光进行准直，激光穿过准直元件14后再穿过衍射光学元件15以形成激光图案。
光源13可以是垂直腔面发射激光器(Vertical Cavity Surface Emitting Laser,VCSEL)或者边发射激光器(edge-emitting laser，EEL)，在如图12所示的实施例中，光源13为边发射激光器，具体地，光源13可以为分布反馈式激光器(Distributed Feedback Laser，DFB)。光源13用于向收容腔121内发射激光。请结合图13，光源13整体呈柱状，光源13远离基板组件11的一个端面形成发光面131，激光从发光面131发出，发光面131朝向准直元件14。光源13固定在基板组件11上，具体地，光源13可以通过封胶17粘结在基板组件11上，例如光源13的与发光面131相背的一面粘接在基板组件11上。请结合图12和图14，光源13的侧面132也可以粘接在基板组件11上，封胶17包裹住四周的侧面132，也可以仅粘结侧面132的某一个面与基板组件11或粘结某几个面与基板组件11。此时封胶17可以为导热胶，以将光源13工作产生的热量传导至基板组件11中。
请参阅图12，衍射光学元件15承载在顶壁122上并收容在保护盖16内。衍射光学元件15的相背两侧分别与保护盖16及顶壁122抵触，挡板162包括靠近通光孔1212的抵触面1622，衍射光学元件15与抵触面1622抵触。
具体地，衍射光学元件15包括相背的衍射入射面152和衍射出射面154。衍射光学元件15承载在顶壁122上，衍射出射面154与挡板162的靠近通光孔1212的表面(抵触面1622)抵触，衍射入射面152与顶壁122抵触。通光孔1212与收容腔121对准，出光通孔160与通光孔1212对准。顶壁122、环形侧壁164及挡板162与衍射光学元件15抵触，从而防止衍射光学元件15沿出光方向从保护盖16内脱落。在某些实施方式中，保护盖16通过胶水粘贴在顶壁122上。
上述的激光投射器10的光源13采用边发射激光器，一方面边发射激光器较VCSEL阵列的温漂较小，另一方面，由于边发射激光器为单点发光结构，无需设计阵 列结构，制作简单，激光投射器10的光源成本较低。
分布反馈式激光器的激光在传播时，经过光栅结构的反馈获得功率的增益。要提高分布反馈式激光器的功率，需要通过增大注入电流和/或增加分布反馈式激光器的长度，由于增大注入电流会使得分布反馈式激光器的功耗增大并且出现发热严重的问题，因此，为了保证分布反馈式激光器能够正常工作，需要增加分布反馈式激光器的长度，导致分布反馈式激光器一般呈细长条结构。当边发射激光器的发光面131朝向准直元件14时，边发射激光器呈竖直放置，由于边发射激光器呈细长条结构，边发射激光器容易出现跌落、移位或晃动等意外，因此通过设置封胶17能够将边发射激光器固定住，防止边发射激光器发生跌落、位移或晃动等意外。
请参阅图12和图15，在某些实施方式中，光源13也可以采用如图15所示的固定方式固定在基板组件11上。具体地，激光投射器10包括多个支撑块18，支撑块18可以固定在基板组件11上，多个支撑块18共同包围光源13，在安装时可以将光源13直接安装在多个支撑块18之间。在一个例子中，多个支撑块18共同夹持光源13，以进一步防止光源13发生晃动。
在某些实施方式中，保护盖16可以省略，此时衍射光学元件15可以设置在收容腔121内，衍射光学元件15的衍射出射面154可以与顶壁122相抵，激光穿过衍射光学元件15后再穿出通光孔1212。如此，衍射光学元件15不易脱落。
在某些实施方式中，基板111可以省去，光源13可以直接固定在电路板112上以减小激光投射器10的整体厚度。
在本说明书的描述中，参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个所述特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个，除非另有明确具体的限定。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。

Claims (25)

  1. 一种激光投射器的控制系统，其特征在于，所述控制系统包括：
    第一驱动电路，所述第一驱动电路与所述激光投射器连接，所述第一驱动电路用于驱动所述激光投射器投射激光；
    微处理器，所述微处理器与所述第一驱动电路连接；和
    应用处理器，所述应用处理器与所述微处理器连接，所述应用处理器用于根据人眼与所述激光投射器之间的距离发送对应的控制信号至所述微处理器，所述微处理器根据所述控制信号控制所述第一驱动电路，以使所述激光投射器以预定参数投射激光。
  2. 根据权利要求1所述的控制系统，其特征在于，所述控制系统还包括距离传感器，所述应用处理器与所述距离传感器连接，所述距离传感器用于检测人眼与所述激光投射器之间的距离。
  3. 根据权利要求2所述的控制系统，其特征在于，所述参数包括电流参数、帧率参数、脉宽参数中的至少一种。
  4. 根据权利要求2所述的控制系统，其特征在于，所述参数包括电流参数；
    所述应用处理器用于在所述人眼与所述激光投射器之间的距离大于预定距离时发送第一控制信号至所述微处理器，所述微处理器根据所述第一控制信号控制所述第一驱动电路，以使所述激光投射器以第一电流参数投射激光；
    所述应用处理器用于在所述人眼与所述激光投射器之间的距离小于或等于所述预定距离时发送第二控制信号至所述微处理器，所述微处理器根据所述第二控制信号控制所述第一驱动电路，以使所述激光投射器以第二电流参数投射激光，其中，所述第二电流参数小于所述第一电流参数。
  5. 根据权利要求2所述的控制系统，其特征在于，所述参数包括帧率参数；
    所述应用处理器用于在所述人眼与所述激光投射器之间的距离大于预定距离时发送第一控制信号至所述微处理器，所述微处理器根据所述第一控制信号控制所述第一驱动电路，以使所述激光投射器以第一帧率参数投射激光；
    所述应用处理器用于在所述人眼与所述激光投射器之间的距离小于或等于所述预定距离时发送第二控制信号至所述微处理器，所述微处理器根据所述第二控制信号控制所述第一驱动电路，以使所述激光投射器以第二帧率参数投射激光，其中，所述第二帧率参数小于所述第一帧率参数。
  6. 根据权利要求2所述的控制系统，其特征在于，所述参数包括脉宽参数；
    所述应用处理器用于在所述人眼与所述激光投射器之间的距离大于预定距离时 发送第一控制信号至所述微处理器，所述微处理器根据所述第一控制信号控制所述第一驱动电路，以使所述激光投射器以第一脉宽参数投射激光；
    所述应用处理器用于在所述人眼与所述激光投射器之间的距离小于或等于所述预定距离时发送第二控制信号至所述微处理器，所述微处理器根据所述第二控制信号控制所述第一驱动电路，以使所述激光投射器以第二脉宽参数投射激光，其中，所述第二脉宽参数小于所述第一脉宽参数。
  7. 根据权利要求2所述的控制系统，其特征在于，所述距离传感器按照预设周期检测所述人眼与所述激光投射器之间的距离。
  8. 根据权利要求2所述的控制系统，其特征在于，所述控制系统还包括：
    第二驱动电路，所述第二驱动电路与所述第一驱动电路连接并用于给所述第一驱动电路供电。
  9. 根据权利要求1所述的控制系统，其特征在于，所述激光投射器能够向目标物体投射激光，所述控制系统还包括红外摄像头，所述红外摄像头能够接收由所述目标物体调制后的激光图案；所述微处理器与所述红外摄像头连接，所述微处理器用于处理所述激光图案以获取所述人眼与所述激光投射器之间的距离。
  10. 根据权利要求9所述的控制系统，其特征在于，所述参数包括电流参数、帧率参数、脉宽参数中的至少一种。
  11. 根据权利要求9所述的控制系统，其特征在于，所述参数包括电流参数；
    所述应用处理器用于在所述人眼与所述激光投射器之间的距离大于预定距离时发送第一控制信号至所述微处理器，所述微处理器根据所述第一控制信号控制所述第一驱动电路，以使所述激光投射器以第一电流参数投射激光；
    所述应用处理器用于在所述人眼与所述激光投射器之间的距离小于或等于所述预定距离时发送第二控制信号至所述微处理器，所述微处理器根据所述第二控制信号控制所述第一驱动电路，以使所述激光投射器以第二电流参数投射激光，其中，所述第二电流参数小于所述第一电流参数。
  12. 根据权利要求9所述的控制系统，其特征在于，所述参数包括帧率参数；
    所述应用处理器用于在所述人眼与所述激光投射器之间的距离大于预定距离时发送第一控制信号至所述微处理器，所述微处理器根据所述第一控制信号控制所述第一驱动电路，以使所述激光投射器以第一帧率参数投射激光；
    所述应用处理器用于在所述人眼与所述激光投射器之间的距离小于或等于所述预定距离时发送第二控制信号至所述微处理器，所述微处理器根据所述第二控制信号控制所述第一驱动电路，以使所述激光投射器以第二帧率参数投射激光，其中，所述 第二帧率参数小于所述第一帧率参数。
  13. 根据权利要求9所述的控制系统，其特征在于，所述参数包括脉宽参数；
    所述应用处理器用于在所述人眼与所述激光投射器之间的距离大于预定距离时发送第一控制信号至所述微处理器，所述微处理器根据所述第一控制信号控制所述第一驱动电路，以使所述激光投射器以第一脉宽参数投射激光；
    所述应用处理器用于在所述人眼与所述激光投射器之间的距离小于或等于所述预定距离时发送第二控制信号至所述微处理器，所述微处理器根据所述第二控制信号控制所述第一驱动电路，以使所述激光投射器以第二脉宽参数投射激光，其中，所述第二脉宽参数小于所述第一脉宽参数。
  14. 根据权利要求9所述的控制系统，其特征在于，所述激光投射器按照预设周期向目标物体投射激光，以周期性地获取所述人眼与所述激光投射器之间的距离。
  15. 根据权利要求9所述的控制系统，其特征在于，所述控制系统还包括：
    第二驱动电路，所述第二驱动电路与所述第一驱动电路连接并用于给所述第一驱动电路供电。
  16. 一种终端，其特征在于，所述终端包括：
    激光投射器；和
    权利要求2至8任意一项所述的控制系统，所述第一驱动电路与所述激光投射器连接。
  17. 根据权利要求16所述的终端，其特征在于，所述激光投射器能够向目标物体投射激光，所述终端还包括：
    红外摄像头，所述红外摄像头能够接收由所述目标物体调制后的激光图案。
  18. 一种终端，其特征在于，所述终端包括：
    激光投射器；和
    权利要求9至15任意一项所述的控制系统，所述第一驱动电路与所述激光投射器连接。
  19. 一种激光投射器的控制方法，其特征在于，所述激光投射器与第一驱动电路连接，所述控制方法包括：
    应用处理器根据人眼与所述激光投射器之间的距离发送对应的控制信号至微处理器；和
    所述微处理器根据所述控制信号控制所述第一驱动电路以使所述激光投射器以预定参数投射激光。
  20. 根据权利要求19所述的控制方法，其特征在于，所述控制方法还包括：
    距离传感器检测所述人眼与所述激光投射器之间的距离。
  21. 根据权利要求19所述的控制方法，其特征在于，所述控制方法还包括：
    所述第一驱动电路驱动所述激光投射器向目标物体投射激光；
    红外摄像头接收由所述目标物体调制后的激光图案；
    微处理器处理所述激光图案以获取所述人眼与所述激光投射器之间的距离。
  22. 根据权利要求20或21所述的控制方法，其特征在于，所述应用处理器根据人眼与所述激光投射器之间的距离发送对应的控制信号至微处理器的步骤包括：
    所述应用处理器在所述人眼与所述激光投射器之间的距离大于预定距离时发送第一控制信号至所述微处理器；和
    所述应用处理器在所述人眼与所述激光投射器之间的距离小于或等于所述预定距离时发送第二控制信号至所述微处理器。
  23. 根据权利要求22所述的控制方法，其特征在于，所述参数包括电流参数，所述微处理器根据所述控制信号控制所述第一驱动电路以使所述激光投射器以预定参数投射激光的步骤包括：
    所述微处理器根据所述第一控制信号控制所述第一驱动电路，以使所述激光投射器以第一电流参数投射激光；和
    所述微处理器根据所述第二控制信号控制所述第一驱动电路，以使所述激光投射器以第二电流参数投射激光，其中，所述第二电流参数小于所述第一电流参数。
  24. 根据权利要求22所述的控制方法，其特征在于，所述参数包括帧率参数，所述微处理器根据所述控制信号控制所述第一驱动电路以使所述激光投射器以预定参数投射激光的步骤包括：
    所述微处理器根据所述第一控制信号控制所述第一驱动电路，以使所述激光投射器以第一帧率参数投射激光；和
    所述微处理器根据所述第二控制信号控制所述第一驱动电路，以使所述激光投射器以第二帧率参数投射激光，其中，所述第二帧率参数小于所述第一帧率参数。
  25. 根据权利要求22所述的控制方法，其特征在于，所述参数包括脉宽参数，所述微处理器根据所述控制信号控制所述第一驱动电路以使所述激光投射器以预定参数投射激光的步骤包括：
    所述微处理器根据所述第一控制信号控制所述第一驱动电路，以使所述激光投射器以第一脉宽参数投射激光；和
    所述微处理器根据所述第二控制信号控制所述第一驱动电路，以使所述激光投射器以第二脉宽参数投射激光，其中，所述第二脉宽参数小于所述第一脉宽参数。
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