WO2020063639A1

WO2020063639A1 - 3d recognition module, 3d recognition apparatus and intelligent terminal

Info

Publication number: WO2020063639A1
Application number: PCT/CN2019/107738
Authority: WO
Inventors: 林君翰; 李宗政; 陈冠宏; 周祥禾
Original assignee: 南昌欧菲生物识别技术有限公司
Priority date: 2018-09-30
Filing date: 2019-09-25
Publication date: 2020-04-02

Abstract

Disclosed is a 3D recognition module (10). The 3D recognition module (10) comprises a projection unit (120) used for emitting projection light; a first beam splitter (130) provided on an optical path of the projection light; and a receiving unit (140) used for receiving surface information of a detected object, wherein the projection light is projected to the detected object after passing through the first beam splitter (130), and can be reflected to form information light carrying the surface information of the detected object; and the information light is received by the receiving unit (140) after passing through the first beam splitter (130).

Description

3D identification module, 3D identification device and intelligent terminal

The present invention claims the priority of Chinese patent applications with a filing date of September 30, 2018, an application number of 2018111633449, and an application number of 2018216163303.

Technical field

The invention relates to the field of 3D recognition, and in particular to a 3D recognition module, a 3D recognition device, and an intelligent terminal.

Background technique

In recent years, with the development of 3D recognition technology, market requirements for the appearance structure and recognition function of 3D recognition devices have also increased. At present, most common 3D recognition devices are separate transmitting and receiving ends with independent optical channels, that is, the transmitting end and the receiving end have their own optical axes. Therefore, it is necessary to strictly control the transmitting end and the receiving end when the device is assembled. Adjust the alignment so that the receiving end has a proper beam receiving angle, thereby reducing the deviation and achieving the desired optical effect.

Summary of the Invention

According to various embodiments of the present application, a 3D recognition module, a 3D recognition device, and a smart terminal are provided.

A 3D recognition module includes:

A projection unit for emitting projection light;

A first beam splitter disposed on an optical path of the projection light; and

A receiving unit for receiving surface information of a measured object;

Wherein, the projection light is projected onto the measured object after passing through the first beam splitter, and can be reflected to form information light carrying surface information of the measured object, and the information light passes through the first beam splitter and is transmitted by the light beam. The receiving unit receives.

A 3D recognition device includes the above-mentioned 3D recognition module and a housing accommodating the 3D recognition module. The housing is provided with an opening for passing the projection light.

An intelligent terminal includes the 3D identification module or the 3D identification device.

Details of one or more embodiments of the invention are set forth in the accompanying drawings and description below. Other features, objects, and advantages of the invention will be apparent from the description, the drawings, and the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to better describe and illustrate embodiments and / or examples of those inventions disclosed herein, reference may be made to one or more drawings. The additional details or examples used to describe the drawings should not be considered as limiting the scope of any of the disclosed inventions, the presently described embodiments and / or examples, and the best mode of these inventions as currently understood.

FIG. 1 is a schematic structural diagram of a 3D identification module according to an embodiment of the present application; FIG.

2 is a schematic structural diagram of a 3D identification module according to another embodiment of the present application;

3 is a schematic diagram of a 3D recognition module including an auxiliary unit according to an embodiment of the present application;

4 is a schematic diagram of a 3D identification device including a diffractive optical element according to an embodiment of the present application;

5 is a schematic diagram of a 3D identification device including a digital micromirror device according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a smart terminal applying a 3D identification module according to an embodiment of the present application.

detailed description

In order to facilitate understanding of the present invention, the present invention will be described more fully with reference to the accompanying drawings. The drawings show a preferred embodiment of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough understanding of the present disclosure.

It should be noted that when an element is referred to as being “fixed to” another element, it may be directly on the other element or there may be a centered element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "inside", "outside", "left", "right" and similar expressions used herein are for illustrative purposes only and are not meant to be the only implementations.

In recent years, with the development of 3D recognition technology, market requirements for the appearance structure and recognition function of 3D recognition devices have also increased. At present, most common 3D recognition devices are separate transmitting and receiving ends with independent optical channels, that is, the transmitting end and the receiving end have their own optical axes. Therefore, it is necessary to strictly control the transmitting end and the receiving end when the device is assembled. Adjust the alignment so that the receiving end has a proper beam receiving angle, thereby reducing the deviation and achieving the desired optical effect. However, this structure is not only bulky, but also the strict alignment process will cause the preparation process to be too complicated. Therefore, this application provides a 3D identification module, a 3D identification device, and a smart terminal.

Referring to FIG. 1 and FIG. 2, the 3D recognition module 10 according to an embodiment of the present application includes a projection unit 120, a first beam splitter 130, and a receiving unit 140. One of the projection unit 120 and the receiving unit 140 is disposed in the first direction A of the first beam splitter 130, the other of the projection unit 120 and the receiving unit 140 is disposed in the second direction B of the first beam splitter 130, and The first beam splitter 130 includes a first reflecting surface 131, and the first reflecting surface 131 can reflect the projection light to the object to be measured or the incident light to the receiving unit 140. The angle between the normal direction of the first reflection surface 131 and the first direction A is equal to the angle between the normal direction of the first reflection surface 131 and the second direction B. The projection unit 120 is configured to transmit projection light, and the receiving unit 140 is configured to receive surface information of the measured object. The first beam splitter 130 is disposed on the optical path of the projection light. The projection light can be reflected or transmitted by the first beam splitter 130. It is projected on the surface of the measured object and is reflected to form information light that carries the information of the surface of the measured object. The reflected information light is transmitted or reflected by the first beam splitter 130 and received by the receiving unit 140. At this time, the optical path of the projection light reflected by the first sub-reflection surface 131 overlaps with the optical path of the information light reaching the first beam splitter 130, so that the projection light and the information light can share the optical path, and the 3D recognition module 10 can be effectively reduced. size of.

The information light received by the receiving unit 140 can be transmitted to a system terminal for analysis and processing, thereby restoring information such as the surface contour of the measured object, thereby achieving a recognition effect. At this time, only the tilt angle of the first beam splitter 130 can be adjusted to change the light paths of the projection light and the information light, thereby achieving the alignment effect and simplifying the manufacturing process. At the same time, the optical path of the projection light exiting the 3D identification module 10 and the optical path of the information light entering the 3D identification module 10 overlap each other, so that the volume of the 3D identification module 10 can be effectively reduced, thereby reducing the occupied space in the device. Conducive to the miniaturization of the device.

Referring specifically to FIG. 1, in one embodiment, the first direction A is perpendicular to the second direction B. The first direction A can be regarded as the horizontal direction in the figure, and the second direction B can be regarded as the vertical direction in the figure. The normal direction of the first reflecting surface 131 is at an angle of 45 ° with the first direction A. The projection unit 120 is disposed in a first direction A of the first beam splitter 130, and the receiving unit 140 is disposed in a second direction B of the first beam splitter 130. At this time, the projection light emitted by the projection unit 120 reaches the first beam splitter 130 in the first direction A, and is then reflected by the first reflecting surface 131 of the first beam splitter 130 and then projected to the measured object in the second direction B. The information light reflected by the measurement object is transmitted through the first beam splitter 130 in the second direction B and received by the receiving unit 140. At this time, the projection light is projected onto the measured object in the second direction B after being reflected by the first beam splitter 130, and the information light also passes through the first beam splitter in the second direction B (in this case, the propagation direction of the projection light is opposite). The mirror 130 reaches the receiving unit 140, that is, the outgoing light path of the projection light and the incident light path of the information light overlap on the side of the first beam splitter 130 near the object to be measured, thereby reducing the light through hole on the device casing and simplifying the device structure.

It should be noted that, because the setting positions of the projection unit 120 and the receiving unit 140 are diverse, in some embodiments, the angle between the normal direction of the first reflection surface 131 and the first direction A may actually be 30 Any value between ° and 60 °, and there may also be an inclined relationship between the first direction A and the second direction B, which is not necessarily a vertical relationship.

In addition, referring to FIG. 2, in other embodiments, the projection unit 120 is disposed in the second direction B of the first beam splitter 130, and the receiving unit 140 is disposed in the first direction A of the first beam splitter 130. At this time, the projection light emitted by the projection unit 120 is transmitted through the first beam splitter 130 in the second direction B and is projected to the measured object. The reflected information light reaches the first beam splitter 130 in the second direction B and passes through the first The beam splitter 130 reflects in the first direction A and is received by the receiving unit 140. At this time, the optical path of the projection light after passing through the first beam splitter 130 overlaps the optical path of the information light reaching the first beam splitter 130, thereby reducing the light through hole on the device casing and simplifying the device structure.

On the other hand, in some embodiments, the 3D recognition module 10 further includes a first rotation driving member, the first rotation driving member is connected to the first beam splitter 130, and the first beam splitter 130 can be determined by the function of the first rotation drive member. The axis is rotated. At this time, the jitter information of the 3D recognition module 10 is obtained by cooperating with the gyroscope, and the rotation angle of the first beam splitter 130 is changed by the control system to change the optical path of the information light, so that the 3D recognition module 10 can achieve image stabilization 2. Enlarge the light receiving area function to improve the sharpness of the image received by the receiving unit 140.

Specifically, the first beam splitter 130 includes a rotation axis that is perpendicular to the first direction A and the second direction B. The first beam splitter 130 can rotate around a fixed axis of the rotation axis. The rotation axis may be a symmetry axis passing through the center of the first beam splitter 130, and the rotation axis may also be an edge line of the first beam splitter 130, or the rotation axis may be located outside the first beam splitter 130.

In some embodiments, the first rotation driving member includes a rotation motor, and a driving shaft of the rotation motor is connected to the first beam splitter 130. Specifically, the driving shaft is fixedly connected to the first beam splitter 130, and the axis of the driving shaft is on the same straight line as the rotation axis of the first beam splitter 130; or, one end of the driving shaft is provided with a driving gear, and the driving gear is synchronized with the driving shaft. When rotating, the first beam splitter 130 is provided with a transmission gear on the rotation axis. The drive gear meshes with the transmission gear. When the drive shaft rotates, the drive gear can drive the transmission gear to rotate, thereby driving the first beam splitter 130 to rotate around the fixed axis of the rotation axis. . By controlling the rotation state of the rotation motor, the rotation angle of the first beam splitter 130 can be quantitatively controlled. It should be noted that, in addition to the rotation motor, the first rotation driving member may also include other driving structures, as long as the first beam splitter 130 can be controlled to rotate about the rotation axis.

Referring to FIGS. 1 and 2, the projection unit 120 includes a light source 121 and a structured light element 122. The light beam emitted by the light source 121 passes through the structured light element 122 with special optical parameters to form corresponding structured light. The structured light is projected onto the surface of the measured object after passing through the first beam splitter 130, and the light generated by the projection unit 120 is also It can be called projection light. Because the surface of the measured object has factors such as depth difference, radian, etc., the structured light is deformed after being reflected on the surface of the measured object, thereby forming deformed structured light. Since the deformed structured light carries the surface information of the measured object, this type of carrying The light that reflects the information on the surface of the measured object is called information light. The reflected deformed structure light is reflected or transmitted by the first beam splitter 130 and received by the receiving unit 140. In some embodiments, the structured light generated by the structured light element 122 is one or more of a spot light spot, a mesh light spot, a rectangular light spot, a strip light spot, and a curved light spot, depending on actual needs. In some embodiments, since the light beam emitted by the light source 121 has a large divergence characteristic, a collimating lens 123 may be further provided between the light source 121 and the structured light element 122 to collimate the light beam. It should be noted that when the light is described as passing through the beam splitter without being transmitted or reflected, it can be understood as any one of transmission or reflection.

In some embodiments, the light source 121 is a visible light laser or an infrared laser. The light source 121 may be a non-laser type ordinary light source for selection according to actual needs and considerations such as cost.

In other embodiments, the light source 121 may be provided with a visible light laser and an infrared laser at the same time. The visible light laser and the infrared light laser are disposed adjacent to the first beam splitter 130 at a small angle, and the optical paths of the two lasers are respectively provided with structures. Optical element 122. The beams of the two lasers can form structured light after passing through the structured light element 122. In addition, the first beam splitter 130 can rotate in a fixed axis, and the light beams emitted by the two lasers can be reflected to the measured object in the same direction when the first beam splitter 130 is rotated to a corresponding angle. The 3D recognition module 10 of the two laser light sources 121 can perform 3D recognition during the day and at night, for example, using an infrared laser for recognition in a well-lit environment (such as daytime), and in a dark environment (such as night). Use a visible light laser for identification.

Referring to FIG. 1, FIG. 2, and FIG. 3, in some embodiments, the structured light element 122 is a DOE (Diffraction Optical Element). A collimating lens 123 is further provided between the structured light element 122 and the light source 121. In some embodiments, the collimating lens 123 can be moved in parallel with the light source 121. For example, the collimating lens 123 is disposed on the translation track 101 and is driven by a voice coil motor. Specifically, in one embodiment, the 3D recognition module 10 includes a clamping member and a bracket. The collimating lens 123 is held by a holder, and a coil is provided on the holder. The holder is provided with a magnet and an elastic sheet. The holder is also provided with a cavity. The magnet can form a magnetic field in the cavity. In the cavity of the bracket, and the clamping member can move in parallel along the axis direction of the cavity, that is, the cavity can be used as the collimating lens 123 and the translation track 101 of the clamping member, and the elastic piece abuts against the clamping member to be clamped. The holder exerts a resetting elastic force. At this time, when the coil is energized, the coil can generate a magnetic field and interact with the magnet on the bracket, so that the clamp and the collimator lens 123 can move in parallel in the cavity; when the coil is energized, the coil's magnetic field Disappeared, the clamping member and the collimator lens 123 are reset by the action of the elastic sheet.

In some embodiments, magnets may also be provided on the holder and a coil may be provided on the bracket. In some embodiments, the translation track 101 may be a strip-shaped groove in the bracket, and the holder holding the collimating lens 123 is snapped into the strip-shaped groove so as to be able to translate in the extension direction of the groove under the effect of the coil magnetic field. . In other embodiments, the translation track 101 is not limited to a strip-shaped groove or cavity structure. The translation track 101 may be any structure capable of allowing the collimating lens 123 to translate relative to the light source 121.

In the above, the amount of displacement of the collimating lens 123 can be controlled by adjusting the current of the coil, thereby achieving the collimation of the divergent light beam of the light source 121. In some embodiments, a fixed collimating lens 123 may be selected according to different usage conditions, that is, the collimating lens 123 does not need to be disposed on the translation track 101 and does not need to be driven. At this time, the position of the collimating lens 123 relative to the light source 121 Fixed to simplify internal structure and reduce costs. In other embodiments, since the light beams emitted by some light sources 121 have good parallel light characteristics, there is no need to provide a collimating lens 123 in these embodiments.

As shown in FIG. 5, in other embodiments, the structured light element 122 is a DMD (Digital Micro Mirror Device). The light beam emitted by the light source 121 is reflected by the DMD to form structured light, and is reflected to the first Beamsplitter 130. When DMD is used as a component for generating structured light, no additional lens is required to collimate the light beam emitted by the light source 121, and the method of generating structured light through DMD reflection can make the setting position of the light source 121 in the 3D identification module 10 more Multiple choices can reduce the volume of the 3D recognition module 10 to a certain extent. In some embodiments, by adjusting the angles of the micromirrors on the DMD, structured light with different shapes and different light spot distributions can be generated without replacing the structured light element.

In addition, in some embodiments, the projection unit 120 may also be a TOF (Time of Flight) method. At this time, the projection light emitted by the projection unit 120 is pulsed light, and the pulsed light is projected onto the measured object. The reflected and reflected pulse light is received by the receiving unit 140, and the distance between each point in the target and the 3D recognition module 10 is obtained by detecting and calculating the light pulse flight round-trip time of each pixel point in the projection light, thereby obtaining Depth information on the surface of the object under test.

Both the deformed structured light formed by the measured object reflection and the pulsed light reflected on the surface of the measured object carry the surface information of the measured object. Therefore, both the deformed structured light and the pulsed light reflected on the surface of the measured object can be called Information light.

Referring again to FIG. 1 and FIG. 2, in some embodiments, the receiving unit 140 includes a first image sensor 143, and a first lens 141 and a first filter which are sequentially arranged from the first beam splitter 130 to the first image sensor 143. Sheet 142. The first image sensor 143 may be a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The first lens 141 includes at least one lens. The first lens 141 can condense incident light, so that the incident light can be clearly imaged on the first image sensor 143, and the recognition accuracy is improved. The first filter 142 can filter out the interference light and prevent the interference light from reaching the first image sensor 143, thereby also improving the recognition accuracy. The information light reflected from the measured object can pass through the first beam splitter 130, the first lens 141, and the first filter 142 in order, and finally be received by the first image sensor 143. The information light received by the first image sensor 143 will be transmitted to the system terminal, and the contour of the measured object will be restored by algorithm analysis and calculation. In some embodiments, the positions of the first lens 141 and the first filter 142 may be replaced.

During the identification process, the first image sensor 143 needs to receive light of this wavelength to achieve effective identification, and it should filter out light of other wavelengths as much as possible. At this time, the first filter 142 may be a narrow band-pass filter, and the narrow band-pass filter may allow light in this wavelength and a nearby small range of wavelengths to pass through and be received by the first image sensor 143, and be out of range. The light cannot pass through. When the light source 121 is a visible light laser, the first filter 142 may allow visible light in the wavelength range of the laser to pass through, for example, the first filter 142 may allow only 550 nm-650 nm light to pass through. At this time, the first filter 142 and the first image sensor 143 can form a visible light image sensor; when the light source 121 is an infrared light laser, the first filter 142 may allow infrared light in the laser wavelength range to pass through, for example, the first filter 142 may only allow 900 nm-1000 nm light is transmitted. At this time, the first filter 142 and the first image sensor 143 can form an infrared light image sensor.

In some embodiments, the 3D recognition module 10 includes a first translation driving member, and the first translation driving member is connected to the first lens 141 so that the first lens 141 can move in parallel with the first image sensor 143, for example, the first lens 141 Approaches or moves away from the first image sensor 143 in the direction of its own optical axis. Specifically, in one embodiment, the 3D recognition module 10 includes a first translation driving member, a lens barrel, and a base, and the first translation driving member includes a coil, a magnet, and an elastic piece. The first lens 141 is installed in the lens barrel, and the coil is arranged on the lens barrel. The magnet and the elastic sheet are arranged on the base. The base also has a cavity. The magnet can form a magnetic field in the cavity. The lens barrel is arranged in the cavity of the base. The lens barrel can be moved in parallel along the axis direction of the cavity, that is, the cavity can be used as the first lens 141 and the translation track 101 of the lens barrel, and the elastic sheet abuts the lens barrel to exert a resetting elastic force on the lens barrel. At this time, when the coil is energized, the coil can generate a magnetic field and interact with the magnets on the base, so that the lens barrel and the first lens 141 can move in parallel in the cavity; when the coil is energized, the magnetic field of the coil disappears , The lens barrel and the first lens 141 are reset by the elastic sheet. The structure of the first translation driving member is not limited to a coil, a magnet, and the like, as long as the first lens 141 can be moved relative to the first image sensor 143.

Above, by controlling the current of the coil, the displacement amount of the first lens 141 in the translation track 101 can be quantitatively controlled, so that the receiving unit 140 has a focusing function, and the recognition accuracy of the 3D recognition module 10 is improved. In some embodiments, a magnet may be provided on the lens barrel, and a coil may be provided on the base. In some embodiments, the translation track 101 may be a strip-shaped groove in the base, and the lens barrel holding the first lens 141 is snapped into the strip-shaped groove so as to be able to translate in the extension direction of the groove under the effect of the coil magnetic field. In other embodiments, the translation track 101 is not limited to a strip-shaped groove or cavity structure. The translation track 101 may be any structure capable of allowing the first lens 141 to translate relative to the first image sensor 143.

Referring to FIG. 3, in some embodiments, the 3D recognition module 10 further includes a second beam splitter 150 and an auxiliary unit 160. The auxiliary unit 160 is configured to receive surface information of the measured object and cooperate with the receiving unit 140 to improve 3D recognition. The identification capability of the module 10. The second beam splitter 150 is disposed in the second direction B of the first beam splitter 130, and the auxiliary unit 160 is disposed in the third direction of the second beam splitter 150. In one embodiment, the third direction is parallel to the first direction A and perpendicular to the second direction B. The third direction can be regarded as the horizontal direction in the figure, and the normal direction of the second reflecting surface 151 and the second direction B And the third direction are at an angle of 45 °. The second beam splitter 150 includes a second reflecting surface 151. The second reflecting surface 151 can reflect the projected light to the measured object or the incident light to the auxiliary unit 160. The angle between the normal direction of the second reflecting surface 151 and the second direction B is equal to the angle between the normal direction of the second reflecting surface 151 and the third direction.

It should be noted that, due to the diversity of the positions of the auxiliary units 160, in some embodiments, the angle between the normal direction of the second reflecting surface 151 and the second direction B may actually be 30 ° to 60 ° Any value between.

The second beam splitter 150 is disposed on the optical path after the projection light passes through the first beam splitter 130. In one embodiment, the second beam splitter 150 is disposed between the first beam splitter 130 and the measured object (the first beam splitter 130 Close to the side of the test object).

The auxiliary unit 160 includes a second image sensor 163, and the optical axis of the auxiliary unit 160 passes through the second beam splitter 150. The second image sensor 163 may be a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). In some embodiments, the auxiliary unit 160 further includes a second filter 162 and a second lens 161 which are sequentially disposed from the second image sensor 163 to the second beam splitter 150. In one embodiment, the incident light can be reflected by the second reflecting surface 151 of the second beam splitter 150 to the auxiliary unit 160, and the incident light can also pass through the second beam splitter 150 to reach the first beam splitter 130, and finally reach The receiving unit 140 can be understood as incident light and infrared light. In another embodiment, the incident light can be reflected by the second reflecting surface 151 of the second beam splitter 150 to the first beam splitter 130, and finally reaches the receiving unit 140, and the incident light can also pass through the second beam splitter 150 to Reach the auxiliary element 160.

In one embodiment, the first filter 142 and the first image sensor 143 in the receiving unit 140 constitute an infrared light image sensor to identify an infrared light image, and the second filter 162 and the second lens 161 can constitute a visible light image sensor. To identify visible light images. Of course, in other embodiments, a visible light image sensor may be formed in the receiving unit 140, and an infrared light image sensor may be formed in the auxiliary unit 160. At this time, the infrared light (structured light or TOF light emitted by the projection unit 120) can be used for imaging to identify the outline of the measured object, and the visible light (ambient light) imaging can be used to identify the color information of the measured object, thereby further enhancing the recognition. Ability to increase recognition accuracy and stability.

Specifically, referring to FIG. 3, in one embodiment, the center of the second beam splitter 150 is located on an extension line connecting the center of the receiving unit 140 and the first beam splitter 130, and the information light reflected from the measured object passes through. Receiving unit 140 passes through the second beam splitter 150 and the first beam splitter 130 and is received by the first image sensor 143. At the same time, some infrared light emitted from the surface of the measured object or visible light reflected from the surface of the measured object is reflected by the second beam splitter 150 to the auxiliary unit 160 and received by the second image sensor 163. In some embodiments, the second beam splitter 150 is rotatably disposed in the 3D recognition module 10, and at this time, the rotation angle of the second beam splitter 150 can be controlled to achieve an anti-shake effect and improve the recognition of the 3D recognition module 10. performance. In some embodiments, in order to prevent the reflected information light from interfering with the collection of visible light images, the receiving process of the auxiliary unit 160 and the receiving unit 140 are performed separately. The collected surface color information is transmitted to the system terminal, and compared with the analysis image of the deformed structured light or TOF light received by the receiving unit 140 to improve the accuracy of recognition.

In some embodiments, when the receiving unit 140 is used to receive visible light and the auxiliary unit 160 is used to receive infrared light, the first filter 142 in the receiving unit 140 is an infrared cut-off filter, and the The second filter 162 is an infrared band-pass filter. The infrared band-pass filter allows infrared light of a desired wavelength to pass through to prevent visible light from interfering with infrared imaging; and the infrared cut-off filter can remove infrared light to avoid interference of infrared light with visible light imaging. At this time, the light source 121 can be an infrared laser. The infrared light generated by the infrared laser can be received by the second image sensor 163 in the auxiliary unit 160 after being reflected by the test object, and the color information of the test object will be used by the first image sensor. 143 received. Of course, in other embodiments, the receiving unit 140 may also be configured to receive infrared light, and the auxiliary unit 160 may be configured to receive visible light.

Furthermore, in some embodiments, when the auxiliary unit 160 is configured to receive thermal infrared light (such as receiving infrared light radiated from a human body), the second filter 162 and the second image sensor 163 can form a thermal infrared image sensor. The thermal infrared image sensor can analyze the heat distribution information carried by the infrared rays released by the measured object, and can easily determine whether the measured object has biological characteristics based on the collected thermal infrared images, thereby improving the reliability of recognition. When the auxiliary unit 160 is used to receive the thermal infrared light of the human body, the second filter 162 may be set as a narrow band-pass filter, and the light transmission range of the narrow band-pass filter is between 800 nm and 1100 nm. The light sheet can pass the infrared light released by the measured object, and filter out the light whose wavelength is not within the light transmission range of the narrow band-pass filter. When the 3D recognition module 10 only needs to receive the thermal infrared light of the biological in the infrared recognition, the 3D recognition module 10 may not be provided with the transmitting unit 120.

In some embodiments, the auxiliary unit 160 is provided with both a visible light image sensor and a thermal infrared image sensor, and the two are adjacent to each other at a small angle with respect to the second beam splitter 150 (for example, the axial angle between the two is 20 ° to 50 °), at this time, by adjusting the rotation angle of the second beam splitter 150, the thermal infrared light is reflected to the thermal infrared light image sensor when the thermal infrared light is recognized, and when the visible light is received and recognized, Visible light is reflected to a visible light image sensor, and the information light is transmitted to an infrared image sensor in the receiving unit 140 when the information light is identified. At this time, the 3D recognition module 10 can recognize the information light, the thermal infrared light of the measured object, and the visible light of the measured object. That is, a 3D recognition module 10 can recognize the outline, temperature, and color information of the measured object. , Which greatly improves the diversity and reliability of recognition.

In the structure of the embodiments shown in the drawings, the first beam splitter 130 and the second beam splitter 150 are described by using a planar beam splitter as an example. In other optional embodiments, the first beam splitter 130 and the second beam splitter 150 may also be other types of beam splitters, such as a wedge beam splitter and a beam splitter cube. In addition, a wedge beam splitter and a beam splitter cube are used. It can greatly reduce the interference of the reflected light on the front and back surfaces of the flat beam splitter, so that better optical effects can be achieved.

In some embodiments, the 3D recognition module 10 includes a second translation driver, and the second translation driver is connected to the second lens 161 so that the second lens 161 can move in parallel with the second image sensor 163, for example, the second lens 161 Approaches or moves away from the second image sensor 163 in the direction of its own optical axis. Specifically, in one embodiment, the 3D recognition module 10 includes a second translation driving member, a lens barrel, and a base, and the second translation driving member includes a coil, a magnet, and an elastic piece. The second lens 161 is installed in the lens barrel, and the coil is arranged on the lens barrel. The magnet and the shrapnel are arranged on the base. The base also has a cavity. The magnet can form a magnetic field in the cavity. The lens barrel is arranged in the cavity of the base. The lens barrel can be moved in parallel along the axis direction of the cavity, that is, the cavity can serve as the second lens 161 and the translation track 101 of the lens barrel, and the elastic sheet abuts the lens barrel to exert a resetting elastic force on the lens barrel. At this time, when the coil is energized, the coil can generate a magnetic field and interact with the magnets on the base, so that the lens barrel and the second lens 161 can move in parallel in the cavity; when the coil is energized, the magnetic field of the coil disappears , The lens barrel and the second lens 161 are reset by the elastic sheet. The structure of the second driving member is not limited to a coil, a magnet, and the like, as long as the second lens 161 can be moved relative to the second image sensor 163.

Above, by controlling the current of the coil, the displacement amount of the second lens 161 in the translation track 101 can be quantitatively controlled, so that the auxiliary unit 160 has a focusing function, and the recognition accuracy of the 3D recognition module 10 is improved. In some embodiments, a magnet may be provided on the lens barrel, and a coil may be provided on the base. In some embodiments, the translation track 101 may be a strip-shaped groove in the base, and the lens barrel holding the second lens 161 is snapped into the strip-shaped groove so as to be able to translate in the extension direction of the groove under the effect of the coil magnetic field. In other embodiments, the translation track 101 is not limited to a strip-shaped groove or cavity structure, and the translation track 101 may be any structure capable of allowing the second lens 161 to translate relative to the second image sensor 163.

Similar to the receiving unit 140 in the above embodiments, in some embodiments, the positions of the second filter 162 and the second lens 161 in the auxiliary unit 160 may be replaced. In addition, the auxiliary unit 160 in some embodiments may not be provided with the second filter 162.

In some embodiments, the 3D recognition module 10 further includes a second rotation driving member, the second rotation driving member is connected to the second beam splitter 150, and the second beam splitter 150 can rotate in a fixed axis under the action of the second rotation driving member. When using the gyroscope to obtain the shake information of the 3D recognition module 10 and to change the rotation angle of the second beam splitter 150 to change the optical path of the information light through the control system, the 3D recognition module 10 can achieve anti-shake and expand light reception. Areas and other functions improve the sharpness of the image received by the auxiliary unit 160.

Specifically, the second beam splitter 150 includes a rotation axis that is perpendicular to the first direction A and the second direction B. The second beam splitter 150 can rotate around a fixed axis of the rotation axis. The rotation axis may be a symmetry axis passing through the center of the second beam splitter 150, the rotation axis may also be an edge line of the second beam splitter 150, or the rotation axis may be located outside the second beam splitter 150.

In some embodiments, the second rotation driving member includes a rotation motor, and a driving shaft of the rotation motor is connected to the second beam splitter 150. Specifically, the driving shaft is fixedly connected to the second beam splitter 150, and the axis of the driving shaft is on the same straight line as the rotation axis of the second beam splitter 150; or, one end of the driving shaft is provided with a driving gear, and the driving gear is synchronized with the driving shaft. When rotating, the second beam splitter 150 is provided with a transmission gear on the rotation axis. The drive gear meshes with the transmission gear. When the drive shaft rotates, the drive gear can drive the transmission gear to rotate, thereby driving the second beam splitter 150 to rotate around the fixed axis of the rotation axis. . By controlling the rotation state of the rotation motor, the rotation angle of the second beam splitter 150 can be quantitatively controlled. It should be noted that, in addition to the rotation motor, the second rotation driving member may also include other driving structures, as long as the second beam splitter 150 can be controlled to rotate about the rotation axis.

Referring to FIG. 3, in some embodiments, at least one of the first beam splitter 130 and the second beam splitter 150 can be rotated in a fixed axis in the 3D recognition module 10, and the collimator lens 123, the first lens 141, and the second lens At least one of 161 can move in parallel in the 3D recognition module 10. The rotation of the component can be directly driven by a rotating motor, or by placing a magnet on the component and controlling the magnetic field. The parallel movement of parts can be achieved by setting magnets on the parts and cooperating with the voice coil motor.

In some embodiments, the 3D recognition module 10 is provided with at least one of a translation track 101 and a rotation track 102. The rotation track 102 may be an arc-shaped groove, and the holder holding the beam splitter is locked into the arc-shaped groove so as to realize directional rotation. The rotation track 102 can also be regarded as a cavity in which the beam splitter is housed. In other embodiments, the rotation track 102 is not limited to a curved groove or cavity structure, and the rotation track 102 may be any structure capable of allowing the first beam splitter 130 or the second beam splitter 150 to rotate.

Referring to FIG. 4, in one embodiment, the first beam splitter 130 and the second beam splitter 150 are respectively disposed on different rotation tracks 102, and the first lens 141 and the second lens 161 are respectively disposed on different translation tracks 101. In some embodiments, the 3D recognition module 10 further includes a control system 170. The control system 170 adjusts the rotation angles of the first beam splitter 130 and the second beam splitter 150 on the rotation track 102, and the first lens 141 and the second The amount of displacement of the lens 161 further controls the light path in the 3D recognition module 10; In addition, by cooperating with a gyroscope to control the rotation angle of at least one of the first beam splitter 130 and the second beam splitter 150, the 3D recognition module 10 can Realize anti-shake function. When the projection unit 120 has a collimating lens 123, the collimating lens 123 can also be mounted on the translation track 101 and uniformly adjusted by the control system 170. The translation track 101 and the rotation track 102 are set according to actual product requirements. In some embodiments, the translation track 101 and the rotation track 102 may not be provided. In other embodiments, only the collimating lens 123, the first lens 141, and the second lens may be provided. One of the lenses 161 is provided on the translation track 101, and only one of the first and

second beam splitters

130 and 150 may be provided on the rotation track 102.

In some embodiments, the control system 170 may control a displacement amount of at least one of the first lens 141 and the second lens 161. In some embodiments, the control system 170 may control a rotation angle of at least one of the first beam splitter 130 and the second beam splitter 150.

Referring to FIGS. 4 and 5, in some embodiments, the 3D recognition module 10 in any of the above embodiments can be applied to a 3D recognition device 20. The 3D recognition device 20 includes a housing 210 and is disposed on the housing 210. On the opening 211. The housing 210 can prevent external light from interfering with the recognition effect of the 3D recognition module 10. At the same time, both the projection light projected by the 3D recognition module 10 and the received information light pass through the opening 211. In some embodiments, a beam expanding lens is further provided at the opening 211 to expand the projected structured light to achieve a larger projected area. At the same time, the deformed structured light reflected from the measured object can also be processed. Collimation.

Referring to FIG. 6, in some embodiments, both the 3D recognition module 10 and the 3D recognition device may be applied to a smart terminal 30. The smart terminal 30 may be a smart phone, an electronic watch, a vehicle-mounted device, a punch card machine, a tablet computer, a PDA ( Personal Digital Assistant), game console, PC, etc. The smart terminal 30 includes a device housing 310. The device housing is provided with a light through hole 320, and the 3D identification module 10 or the 3D identification device is installed in the device housing 310. For the smart terminal 30 in which the 3D identification module is disposed under the display cover, the display cover can be regarded as a part of the device casing 310. The light-passing hole 320 in some embodiments has a hole-like structure; and the light-passing hole 320 in other embodiments may have a non-hole-like structure. For example, the light-through hole 320 may refer to a light-passing area on a display cover. For example, a light-shielding coating is applied on the display cover, and the light-shielding coating is provided around a light-passing area, that is, the light-passing area is not coated with the light-shielding coating to form a light-through hole 320. 3D identification module 10 settings Inside the device casing, and the projection light of the 3D identification module 10 is projected to the measured object through the light hole 320. By adopting the 3D recognition module 10, the light paths of the projection light and the information light when entering and exiting the 3D recognition module 10 overlap. The smart terminal 30 does not need to separately set a projection and receiving light through hole 320 on the device housing 310, but instead The receiving function is performed in the same light hole 320, so that the smart terminal 30 has a simpler appearance and better performance. At the same time, the smart terminal 30 has a higher flexibility in the configuration of the internal space.

The working principle of the present invention will be described with the embodiment shown in FIG. 3. When the 3D recognition module 10 receives an instruction for 3D recognition, the light source 121 emits an infrared beam to the structured light element 122. The light beam passing through the structured light element 122 is adjusted to structured light, and the structured light is directed to the first beam splitter 130. Reflected by the first beam splitter 130 to the second beam splitter 150, and projected to the surface of the measured object through the second beam splitter 150. Due to the special depth difference and radian of the surface of the measured object, structured light Deformed and reflected light on the surface of the test object forms deformed structured light. The deformed structured light passes through the second beam splitter 150 and the first beam splitter 130 in order and reaches the infrared light image sensor (composed of the first filter 142 and the first image sensor 143) in the receiving unit 140. With the deformed structured light entering the 3D recognition module 10, there is also visible light reflected by the surface of the measured object. The visible light is reflected by the second beam splitter 150 to the visible light image sensor in the auxiliary unit 160 (the second filter 162 and the first Image sensor 163). The first image sensor 143 and the second image sensor 163 transfer the received image information to the system terminal, and analyze and calculate the image information through an algorithm, thereby restoring the surface contour of the measured object.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Rear "," left "," right "," vertical "," horizontal "," top "," bottom "," inside "," outside "," clockwise "," counterclockwise "," axial ", The azimuth or position relationship indicated by "radial", "circumferential", etc. is based on the azimuth or position relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply the device or element referred to. It must have a specific orientation and be constructed and operated in a specific orientation, so it cannot be understood as a limitation of the present invention.

In addition, the terms "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 invention, the meaning of "a plurality" is at least two, for example, two, three, etc., unless it is specifically and specifically defined otherwise.

In the present invention, the terms "installation", "connected", "connected", "fixed" and other terms shall be understood in a broad sense unless otherwise specified and defined, for example, they may be fixed connections or removable connections , Or integrated; it can be mechanical or electrical; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of the two elements or the interaction between the two elements, unless otherwise specified The limit. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the present invention, unless explicitly stated and defined otherwise, 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. Moreover, the first feature is "above", "above", and "above" the second feature. The first feature is directly above or obliquely above the second feature, or 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.

In the description of this specification, the description with reference to the terms “one embodiment”, “some embodiments”, “examples”, “specific examples”, or “some examples” and the like means specific features described in conjunction with the embodiments or examples , Structure, material, or characteristic is included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms are not necessarily directed to the same embodiment or example. Moreover, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, without any contradiction, those skilled in the art may combine and combine different embodiments or examples and features of the different embodiments or examples described in this specification.

The technical features of the embodiments described above can be arbitrarily combined. In order to simplify the description, all possible combinations of the technical features in the above embodiments have not been described. However, as long as there is no contradiction in the combination of these technical features, It should be considered as the scope described in this specification.

The above-mentioned embodiments only express several implementation manners of the present invention, and their descriptions are more specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be noted that, for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the invention patent shall be subject to the appended claims.

Claims

A 3D recognition module is characterized in that it includes:

A projection unit for emitting projection light;

A first beam splitter disposed on an optical path of the projection light; and

A receiving unit for receiving surface information of a measured object;

Wherein, the projection light is projected onto the measured object after passing through the first beam splitter, and can be reflected to form information light carrying surface information of the measured object, and the information light passes through the first beam splitter and is transmitted by the light beam. The receiving unit receives.
The 3D recognition module according to claim 1, wherein the first beam splitter comprises a first reflecting surface, and one of the projection unit and the receiving unit is disposed on the first beam splitter of the first beam splitter. In one direction, the other of the projection unit and the receiving unit is disposed in a second direction of the first beam splitter, and an angle between a normal direction of the first reflecting surface and the first direction It is equal to the angle between the normal direction of the first reflecting surface and the second direction, so that the optical path of the projection light after passing through the first beam splitter overlaps the optical path of the information light.
The 3D recognition module according to claim 2, wherein the receiving unit comprises a first image sensor and a first lens, and the first lens is disposed on the first beam splitter and the first image sensor between.
The 3D recognition module according to claim 3, further comprising a first translation driving member, the first translation driving member is connected to the first lens, and the first translation driving member is used to drive the first A lens, so that the first lens approaches or moves away from the first image sensor in an optical axis direction.
The 3D recognition module according to claim 2, further comprising a first rotation driving member, the first rotation driving member being connected to the first beam splitter, the first beam splitter comprising a rotation axis, and The rotation axis is perpendicular to the first direction and the second direction, and the first rotation driving member is used to drive the first beam splitter to rotate around the rotation axis.
The 3D recognition module according to claim 2, wherein the receiving unit includes a first filter disposed between the first beam splitter and the first image sensor, and the first filter The light filter is an infrared band-pass filter or an infrared cut-off filter.
The 3D recognition module according to claim 2, wherein the 3D recognition module is further provided with a second beam splitter and an auxiliary unit, wherein the auxiliary unit is configured to receive surface information of the measured object, and the first The dichroic mirror includes a second reflecting surface, the second dichroic mirror is disposed in a second direction of the first dichroic mirror, the auxiliary unit is disposed in a third direction of the second dichroic mirror, and the second The angle between the normal direction of the reflecting surface and the second direction is equal to the angle between the normal direction of the second reflecting surface and the third direction.
The 3D recognition module according to claim 7, wherein the auxiliary unit includes a second image sensor and a second lens, and the second lens is disposed on the second beam splitter and the second image sensor between.
The 3D recognition module according to claim 8, further comprising a second translation driving member, the second translation driving member is connected to the second lens, and the second translation driving member is used for driving the first Two lenses, so that the second lens approaches or moves away from the second image sensor in the optical axis direction.
The 3D recognition module according to claim 7, further comprising a second rotation driving member, the second rotation driving member being connected to the second beam splitter, the second beam splitter comprising a rotation axis, and the The rotation axis is perpendicular to the first direction and the second direction, and the second rotation driving member is used to drive the second beam splitter to rotate around the rotation axis.
The 3D recognition module according to claim 7, wherein the auxiliary unit comprises a second filter disposed between the second beam splitter and the second image sensor, and the second filter The light filter is an infrared band-pass filter or an infrared cut-off filter.
The 3D recognition module according to claim 7, wherein the first beam splitter includes a first reflecting surface, and a normal direction of the first reflecting surface forms an angle of 45 ° with the first direction; The second beam splitter includes a second reflecting surface, and a normal direction of the second reflecting surface is at an angle of 45 ° with the third direction.
The 3D recognition module according to claim 2, wherein the 3D recognition module includes a control system, and the 3D recognition module includes any one of the following:

a. The control system is configured to control a rotation angle of the first beam splitter;

b. The 3D recognition module is further provided with a second beam splitter and an auxiliary unit, the auxiliary unit is used to receive surface information of the measured object, the second beam splitter includes a second reflecting surface, and the second beam splitter The mirror is disposed in the second direction of the first beam splitter, the auxiliary unit is disposed in the third direction of the second beam splitter, and a direction between the normal direction of the second reflecting surface and the second direction The angle is equal to the angle between the normal direction of the second reflecting surface and the third direction, and the control system is configured to control a rotation angle of at least one of the first beam splitter and the second beam splitter.
The 3D recognition module according to claim 2, wherein the 3D recognition module includes a control system, and the 3D recognition module includes at least one of the following:

a. The receiving unit includes a first image sensor and a first lens, the first lens is disposed between the first beam splitter and the first image sensor, and the control system is configured to control the first Lens displacement

b. The 3D recognition module is further provided with a second beam splitter and an auxiliary unit, the auxiliary unit is used to receive surface information of the measured object, the second beam splitter includes a second reflecting surface, and the second beam splitter The mirror is disposed in the second direction of the first beam splitter, the auxiliary unit is disposed in the third direction of the second beam splitter, and a direction between the normal direction of the second reflecting surface and the second direction The angle is equal to the angle between the normal direction of the second reflecting surface and the third direction, the auxiliary unit includes a second image sensor and a second lens, and the second lens is disposed between the second beam splitter and the Between the second image sensors, the control system is configured to control a displacement amount of the second lens.
The 3D identification module according to claim 1, wherein the projection unit comprises a light source and a structured light element, and the projection light formed by the light beam emitted by the light source after passing through the structured light element is structured light.
The 3D identification module according to claim 15, wherein the structured light element is a diffractive optical element, and a light beam emitted by the light source passes through the structured light element and reaches the first beam splitter.
The 3D identification module according to claim 15, wherein the structured light element is a digital micromirror device, and the light beam emitted by the light source is reflected by the structured light element and reaches the first beam splitter.
The 3D recognition module according to claim 1, wherein the projection light emitted by the projection unit is pulsed light.
A 3D recognition device, comprising the 3D recognition module according to any one of claims 1 to 18 and a housing accommodating the 3D recognition module, the housing is provided with an opening, and the opening For passing the projection light.
A smart terminal, comprising a 3D recognition module according to any one of claims 1-18 or a 3D recognition device according to claim 19.