WO2020221185A1 - Asynchronous tof discrete point cloud-based 3d imaging apparatus, and electronic device - Google Patents
Asynchronous tof discrete point cloud-based 3d imaging apparatus, and electronic device Download PDFInfo
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- WO2020221185A1 WO2020221185A1 PCT/CN2020/087137 CN2020087137W WO2020221185A1 WO 2020221185 A1 WO2020221185 A1 WO 2020221185A1 CN 2020087137 W CN2020087137 W CN 2020087137W WO 2020221185 A1 WO2020221185 A1 WO 2020221185A1
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- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- 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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
Definitions
- the present disclosure relates to the field of 3D imaging, and in particular, to a 3D imaging device and electronic equipment based on asynchronous ToF discrete point clouds.
- ToF (time of flight) technology is a technology that emits measurement light from the projector, and reflects the measurement light back to the receiver through the target object, so that the space from the object to the sensor can be obtained according to the propagation time of the measurement light in this propagation distance Distance 3D imaging technology.
- Commonly used ToF technology includes single point scanning projection method and surface light projection method.
- the ToF method of single-point scanning projection uses a single-point projector to project a single beam of collimated light, and the projection direction of the single beam of collimated light is controlled by the scanning device to be able to project to different target positions. After the collimated light of the single beam is reflected by the target, part of the light is received by the single-point light detector, thereby obtaining the depth measurement data of the current projection direction.
- This method can concentrate all the optical power on a target point, thereby achieving a high signal-to-noise ratio at a single target point, and then achieving high-precision depth measurement.
- the scanning of the entire target object relies on scanning devices, such as mechanical motors, MEMS, and optical phase-controlled radars. Splicing the depth data points obtained by scanning can obtain the discrete point cloud data required for 3D imaging. This method is conducive to realizing long-distance 3D imaging, but requires the use of a complex projection scanning system, and the cost is relatively high.
- the ToF method of surface light projection is to project a surface beam with continuous energy distribution.
- the projected light continuously covers the surface of the target object.
- the photodetector is an array of photodetectors that can obtain the travel time of the beam.
- the depth obtained by each detector image point is the depth information of the object position corresponding to the object image relationship.
- the purpose of the present disclosure is to provide a 3D imaging device and electronic equipment based on asynchronous ToF discrete point clouds.
- the present disclosure adopts an asynchronous discrete beam projection method, which can maintain a low optical power during each projection, and can meet the limitations of power consumption and laser eye safety.
- the 3D imaging device based on asynchronous ToF discrete point cloud includes an asynchronous discrete beam projector and a photodetector array imager;
- the asynchronous discrete beam projector is configured to sequentially project multiple discrete collimated beams to different regions of the target object in a time sequence within a preset time period;
- the photodetector array imager is configured to sequentially receive the multiple discrete collimated beams reflected by the target object and measure the propagation time of the multiple discrete collimated beams, so as to obtain the target
- the depth data of the multiple regions of the object is generated based on the depth data of the multiple regions of the target object.
- the asynchronous discrete beam projector includes an edge emitting laser and a beam projector arranged on an optical path;
- the edge emitting laser is configured to project laser light to the beam projector
- the beam projector is configured to project a plurality of discrete collimated beams of the incident laser light sequentially to different regions of the target object in a time sequence within a preset time period.
- the asynchronous discrete beam projector includes a laser array, a collimating lens and a beam splitting device arranged on an optical path;
- the laser array includes a plurality of lasers arranged in an array, and the plurality of lasers are divided into a plurality of laser emitting groups, and each laser emitting group is sent to the The collimating lens projects the first order of magnitude laser;
- the collimating lens is configured to collimate the multiple incident laser beams and then emit a collimated beam of a first order of magnitude;
- the beam splitting device is configured to split the incident collimated beam of the first order of magnitude and then emit the collimated beam of the second order of magnitude;
- the second order of magnitude is greater than the first order of magnitude.
- the photodetector array imager includes an optical imaging lens, a photodetector array, and a driving circuit;
- the photodetector array includes a plurality of photodetectors distributed in an array, and the plurality of photodetector emission groups are a plurality of photodetector groups, each of the photodetector groups and a laser emission group Corresponding;
- the photodetector group is configured to receive the collimated light beam reflected by the target object after being emitted by the corresponding laser emitting group;
- the optical imaging lens is configured such that the direction vector of the collimated light beam entering the photodetector array through the optical imaging lens has a one-to-one correspondence with the photodetector;
- the driving circuit is configured to measure the propagation time of multiple discrete collimated light beams and then generate depth data of multiple regions on the surface of the target object, and then generate the depth data based on the depth data of multiple regions of the target object. Describe the depth data of the target surface.
- the multiple discrete collimated light beams are periodically arranged in a predetermined shape.
- the preset shape includes any of the following shapes or any multiple shapes that can be switched with each other:
- the multiple discrete collimated beams are non-periodically arranged in another preset shape.
- the aperiodic arrangement includes any of the following arrangements or any multiple arrangements that can be switched between:
- the asynchronous discrete beam projector includes multiple groups of edge-emitting lasers and beam projectors arranged on an optical path;
- the edge-emitting laser is configured to project laser light to the beam projector;
- the beam projector is configured to project the incident laser light into multiple discrete collimated beams;
- the electronic equipment provided by the present disclosure includes the 3D imaging device based on asynchronous ToF discrete point clouds, and also includes a display panel; the asynchronous discrete beam projector and the photodetector array imager are located on the backlight side of the display panel ;
- the asynchronous discrete beam projector projects multiple discrete collimated light beams to different areas of the target object sequentially in time sequence within a preset time period, after the multiple discrete collimated light beams penetrate the display panel Shine on the target object;
- the photodetector array imager receives multiple discrete collimated light beams that penetrate the display panel after being reflected by the target object, and obtains multiple discrete collimated light beams according to the propagation time of the multiple discrete collimated light beams.
- the depth data of the region, and then the depth data of the surface of the target object is generated according to the depth data of multiple regions of the target object.
- the present disclosure uses an asynchronous discrete beam projector to project multiple discrete collimated beams to different regions of the target object in a time sequence within a preset time period, so that the photodetector array imager can obtain multiple regions of the target object
- the depth data of the target object is generated based on the depth data of multiple regions of the target object, which improves the beam power density and achieves a balance between the signal-to-noise ratio and the point cloud density, so as to achieve specific 3D Optimized accuracy and point cloud density in imaging application scenarios, and can maintain a low optical power during each projection, which can meet the limitations of power consumption and laser eye safety.
- FIG. 1 is a schematic structural diagram of a 3D imaging device based on synchronized ToF discrete point clouds in an embodiment of the disclosure
- FIG. 2 is a schematic diagram of a structure of an asynchronous discrete beam projector in an embodiment of the disclosure
- FIG. 3 is a schematic diagram of another structure of an asynchronous discrete beam projector in an embodiment of the disclosure.
- FIG. 4 is a schematic structural diagram of an optical imaging lens in an embodiment of the disclosure.
- FIGS. 6(a), (b), (c) are schematic diagrams of aperiodic arrangement of multiple discrete collimated beams in an embodiment of the disclosure.
- 1 is a photodetector array imager
- 102 is an optical imaging lens
- 201 is an edge emitting laser
- 202 is a beam projector
- 203 is a laser array
- 204 is a collimating lens
- 205 is a beam splitting device.
- connection can be configured for a fixed function or a circuit connection function.
- first and second are only configured for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include one or more of these features. In the description of the embodiments of the present disclosure, “plurality” means two or more than two, unless otherwise specifically defined.
- the present disclosure provides a compromise solution between the single-point scanning projection method and the surface light projection method, that is, a projector is used to project multiple discrete collimated beams at the same time, which is paired with a ToF photodetector array, A synchronized 3D point cloud containing depth data of multiple target points can be obtained in a single measurement.
- the number of collimated beams projected at the same time can range from a few to tens of thousands.
- the present disclosure can achieve the trade-off and optimization of the beam power density (i.e. signal-to-noise ratio) and the point cloud density by controlling the number of light beams under the same power.
- the present disclosure adopts an asynchronous projection method.
- the distribution of the beams projected each time is relatively sparse, and the distribution of the beams projected at different times is different, so as to obtain point cloud data of different regions of the target object. After the point clouds obtained by multiple projection measurements are stitched together, a relatively dense point cloud can be obtained. In this way, it is possible to achieve the most optimized accuracy and point cloud density for specific 3D imaging application scenarios, and to maintain a low optical power during each projection, so as to meet the limitations of power consumption and laser eye safety.
- Figure 1 is a schematic structural diagram of a 3D imaging device based on a synchronous ToF discrete point cloud in the present disclosure.
- the 3D imaging device based on a synchronous ToF discrete point cloud provided by the present disclosure is configured to implement the asynchronous ToF based 3D imaging device provided by the present disclosure.
- 3D imaging device for ToF discrete point cloud including asynchronous discrete beam projector 2 and photodetector array imager 1;
- the asynchronous discrete beam projector 2 is configured to sequentially project multiple discrete collimated beams to different regions of the target object 3 in a time sequence within a preset time period;
- the photodetector array imager 1 is configured to sequentially receive the multiple discrete collimated beams reflected by the target object 3 and measure the propagation time of the multiple discrete collimated beams, so as to obtain According to the depth data of the multiple regions of the target object 3, the depth data of the surface of the target object 3 is generated according to the depth data of the multiple regions of the target object 3.
- the preset time period can be set to 10 milliseconds; the target object 3 includes at least a first area and a second area, so that it can be projected by asynchronous discrete beams within the preset time period
- a group of lasers in the device 2 first project multiple discrete collimated beams to the first area to obtain depth data of the first area, and then pass another group of lasers in the asynchronous discrete beam projector 2 to the second area.
- Multiple discrete collimated beams are projected into the area, the depth data of the second area is acquired, and the depth data of the surface of the target object 3 is generated according to the depth data of the first area and the depth data of the second area.
- the first area and the second area may be adjacent areas, or may be connected areas.
- the first area and the second area may also be intertwined.
- the first area includes a plurality of randomly distributed first sub-areas
- the second area includes a plurality of randomly distributed first sub-areas at any gap between adjacent first sub-areas.
- the second sub-area may include multiple regions, such as three regions, four regions, and so on.
- the asynchronous discrete beam projector 2 sequentially projects multiple discrete collimated beams to different regions of the target object 3 in a time sequence to generate A plurality of depth data on the surface of the target object 3 is further used to generate optimal depth data on the surface of the target object 3 iteratively according to the depth data on the surface of the target object 3.
- the present disclosure uses the asynchronous discrete beam projector 2 to project multiple discrete collimated beams to different areas of the target object 3 in a time sequence within a preset time period, so that the photodetector array imager 1 It is possible to obtain the depth data of multiple regions of the target object 3, and generate the depth data of the surface of the target object 3 according to the depth data of the multiple regions of the target object 3, which improves the beam power density.
- a balance between point cloud density can be achieved to achieve the most optimized accuracy and point cloud density for specific 3D imaging application scenarios, and to maintain a low optical power during each projection, which can meet the power consumption and laser eyes Security restrictions.
- the multiple discrete collimated beams in a discrete shape projected by the asynchronous discrete beam projector 2 are reflected by the target object 3, and the partially reflected collimated beams are received by the photodetector array 101.
- These discrete depth data points construct point cloud data that can reproduce the 3D shape of the object, so as to realize the 3D imaging of the target object 3.
- the plurality of discrete collimated light beams have a cone shape.
- the number of the multiple discrete collimated beams is between two beams and tens of thousands of beams, such as 2 beams to 100,000 beams.
- the 3D imaging device based on asynchronous ToF discrete point cloud includes a driving circuit connected with the asynchronous discrete beam projector 2 and the photodetector array imager 1.
- the driving circuit is configured to control the asynchronous discrete beam projector 2 and the photodetector array imager 1 to be turned on or off at the same time.
- the driving circuit can be an independent dedicated circuit, such as a dedicated SOC chip, FPGA chip, ASIC chip, etc., or a general-purpose processor, for example, when the depth camera is integrated into smart terminals such as mobile phones, TVs, computers, etc. ,
- the processor in the terminal can be used as at least part of the processing circuit
- FIG. 2 is a schematic structural diagram of the asynchronous discrete beam projector in the present disclosure.
- the asynchronous discrete beam projector 2 includes an edge emitting laser 201 and a beam projector 202 arranged on an optical path;
- the edge-emitting laser 201 is configured to project laser light to the beam projector 202;
- the beam projector 202 is configured to project a plurality of discrete collimated beams of the incident laser light to different regions of the target object 3 sequentially in time sequence within a preset time period.
- the beam projector 202 is provided with multiple sets of beam projection ports, and a set of beam projection ports are sequentially controlled in a chronological order within the predetermined period of time to project multiple beams of discrete collimation to different regions of the target object 3. beam. That is, within a preset time period, each group of beam projection ports is opened once to project multiple discrete collimated beams. When one group of beam projection ports is opened, the other groups of beam projection ports are closed.
- the opening and closing of the light beam projection port can be opened and closed by electromagnetic drive or micro-motor drive block.
- the beam projector 202 can realize the function of dividing the incident light from the edge-emitting laser 201 into any number of collimated beams.
- the emission direction of the edge-emitting laser 201 and the emission direction of the beam projector 202 may be the same, or may be 90 degrees or any angle required for the design of the optical system.
- the inner surface of the beam splitting projector is processed with a micro-nano structure optical chip and is composed of an optical lens.
- the beam splitting projector can realize the function of dividing the incident light from the edge-emitting laser 201 into any number of collimated beams.
- the emission direction of the edge-emitting laser 201 and the projection direction of the beam splitting projector may be the same, or may be 90 degrees or any angle required for the design of the optical system.
- the asynchronous discrete beam projector 2 includes multiple sets of edge emitting lasers 201 and beam projectors 202 arranged on an optical path;
- the edge-emitting laser 201 is configured to project laser light to the beam projector 202; the beam projector 202 is configured to project the incident laser light into multiple discrete collimated beams;
- a group of edge-emitting lasers 201 and beam projectors 202 arranged on an optical path are sequentially controlled in a chronological order within the predetermined period of time to turn on the target object 3.
- the area projects multiple discrete collimated beams. That is, within a preset period of time, each group of edge-emitting lasers 201 and beam projectors 202 set on an optical path are turned on once to project multiple discrete collimated beams.
- the edge-emitting laser 201 and the beam projector 202 of the other groups arranged on an optical path are turned off.
- FIG. 3 is a schematic diagram of another structure of the asynchronous discrete beam projector in this disclosure.
- the asynchronous discrete beam projector 2 includes a laser array 203, a collimating lens 204, and a beam splitter arranged on an optical path.
- the laser array 203 includes a plurality of lasers arranged in an array, and the plurality of lasers are divided into a plurality of laser emitting groups, and pass through each laser emitting group to all the lasers in a predetermined period of time.
- the collimating lens 204 projects a laser of the first order of magnitude;
- the collimating lens 204 is configured to collimate the multiple incident laser beams and then emit a collimated beam of a first order of magnitude;
- the beam splitting device 205 is configured to split an incident collimated beam of a first order of magnitude and then emit a collimated beam of a second order of magnitude;
- the second order of magnitude is greater than the first order of magnitude.
- each of the lasers or each group of the lasers can be individually controlled to emit, so that each group of lasers can be controlled to emit lasers during a preset time period to achieve the target object 3 Projections from different areas.
- the number of the laser emitting groups is consistent with the number of regions of the target object 3.
- the laser array 203 may be composed of multiple vertical cavity surface emitting lasers (VCSEL) or multiple edge emitting lasers (Edge Emitting Laser, EEL). After passing through the collimating lens 204, multiple laser beams can become highly parallel collimated beams. According to the requirement of the number of discrete beams in practical applications, the beam splitting device 205 can be used to achieve more collimated beams.
- the beam splitting device 205 may adopt a diffraction grating (DOE), a spatial light modulator (SLM), and the like.
- DOE diffraction grating
- SLM spatial light modulator
- the photodetector array imager 1 includes an optical imaging lens 102, a photodetector array 101, and a driving circuit;
- the photodetector array 101 includes a plurality of photodetectors distributed in an array, and the plurality of photodetector emission groups are a plurality of photodetector groups, and each of the photodetector groups and a laser emitting Group corresponding
- the photodetector group is configured to receive the collimated light beam reflected by the target object 3 after being emitted by the corresponding laser emitting group;
- the optical imaging lens 102 is configured such that the direction vector of the collimated light beam entering the photodetector array 101 through the optical imaging lens 102 has a one-to-one correspondence with the photodetector;
- the driving circuit is configured to measure the propagation time of multiple discrete collimated light beams and then generate depth data of multiple regions on the surface of the target object 3, and then according to the depth data of multiple regions of the target object 3 The depth data of the surface of the target object 3 is generated.
- the photodetector group and the laser emitting group are in a one-to-one correspondence, that is, when the spatial relationship between each detector and the projected collimated beam is accurately corresponded by calibration, in the asynchronous mode
- only the photodetector group corresponding to the laser group of the collimated beam being projected can be turned on, and the other photodetector groups can be turned off, thereby reducing the power consumption of the photodetector and system noise interference.
- the number of the photodetector groups is consistent with the number of regions of the target object 3.
- a narrow-band filter is usually installed in the optical imaging lens 102, so that the photodetector array 101 can only pass the incident collimated light beam with a preset wavelength.
- the predetermined wavelength may be the wavelength of the incident collimated beam, or may be between 50 nanometers less than the incident collimated beam and 50 nanometers greater than the incident collimated beam.
- the photodetector array 101 may be arranged periodically or non-periodically. Each photodetector cooperates with the auxiliary circuit to realize the time-of-flight measurement of the straight beam.
- the photodetector array 101 can be a combination of multiple single-point photodetectors or a sensor chip integrating multiple photodetectors.
- the irradiation spot of a discrete collimated beam on the target object 3 may correspond to one or more photodetectors.
- the signal of each detector can be connected through a circuit, so that it can be combined into a photodetector with a larger detection area.
- the multiple discrete collimated beams are periodically arranged in a predetermined shape, that is, distributed in a geometric regularity.
- the preset The shape of includes any of the following shapes or any multiple shapes that can be switched between:
- the shape of the periodic arrangement of the multiple discrete collimated beams is not limited to the above-mentioned shape, and may be arranged in other shapes.
- the preset shape when the preset shape is rectangular, that is, the unit arrangement shape of the collimated beams in one period is rectangular, and it repeats periodically in space.
- the preset shape when the preset shape is a triangle, that is, the unit arrangement shape of the collimated light beam in one period is a triangle, and it repeats periodically in space.
- the preset shape is a hexagon, that is, the unit arrangement shape of the collimated beams in a period is a hexagon, and it repeats periodically in space.
- each collimated beam in the cross-section may be distorted, such as stretching and distortion.
- the energy distribution of each collimated beam in the cross-section can be in other shapes such as a circle, a ring, or an ellipse. In such an arrangement as shown in 5, it is beneficial to simplify the spatial correspondence between the multiple discrete collimated beams and the photodetector array 101.
- the multiple discrete collimated beams are non-periodically arranged in another preset shape.
- the aperiodic arrangement includes any of the following arrangements or any multiple arrangements that can be switched between:
- the shape of the aperiodic arrangement of the multiple discrete collimated light beams is not limited to the above-mentioned shape, and may be arranged in other shapes.
- the spatial coding arrangement is specifically that in the periodic arrangement, a part of the light beam is defaulted, so as to realize the spatial coding of the arrangement position.
- the coding that can be used is not limited.
- the random arrangement specifically the arrangement of collimated beams, is randomly distributed, so that the similarity of the arrangement of different positions is small or close to Zero, as shown in FIG.
- the quasi-lattice arrangement is specifically that the collimated light beams are arranged non-periodically at adjacent positions at a short distance, and periodically arranged at a long distance. Since the implementation of the present disclosure is limited by the optical system, the arrangement of the actual collimated beam in the cross-section may be distorted, such as stretching and distortion.
- the energy distribution of each collimated beam in the cross-section can be a circle, a ring, or an ellipse. In this arrangement as shown in 6, this arrangement is conducive to uniform sampling of non-determined targets and optimizes the effect of the final 3D depth map.
- the light detector adopts any of the following light sensors:
- model selection of the light detector is not limited to the aforementioned light sensor, and may also include other types of light sensors.
- the electronic device provided by the present disclosure includes the 3D imaging device based on asynchronous ToF discrete point cloud, and also includes a display panel; the asynchronous discrete beam projector and the photodetector array imager are located at The backlight side of the display panel;
- the asynchronous discrete beam projector 2 sequentially projects multiple discrete collimated beams to different areas of the target object 3 in a time sequence within a preset period of time, so that the multiple discrete collimated beams penetrate the display panel and then illuminate To the target object 3;
- the photodetector array imager 1 receives the multiple discrete collimated light beams reflected by the target object 3 and penetrates the display panel, and obtains the target object 3 according to the propagation time of the multiple discrete collimated light beams
- the depth data of the multiple regions of the target object 3 is further generated according to the depth data of the multiple regions of the target object 3 to generate the depth data of the surface of the target object 3.
- the photodetector array imager 1 ensures the spatial position correspondence between the multiple discrete collimated beams projected and the photodetector array 101. In this way, each photodetector in the photodetector array 101 can use the ToF mode of continuously modulating the light beam or pulse in time to measure the propagation time of light, and then calculate the distance of light propagation by means of the speed of light.
- the pulse-based ToF method is also called the direct ToF method, specifically: the photodetector can sensitively detect the waveform of a light pulse, and then compare with the emission time of the light pulse to obtain the collimated beam in the asynchronous discrete beam The travel time between the projector 2 and the photodetector array imager 1.
- the commonly used photodetector is a single photon avalanche diode (SPAD).
- the single-photon avalanche diode can count the photons of the light pulse very sensitively and at high speed. That is, the number of photons at different times is counted within the pulse time window, and the overall waveform of the pulse is restored.
- the pulse-based ToF method has relatively low requirements for the power consumption of the projector, and is beneficial to eliminate the interference of multipath beams.
- the ToF method based on time-continuous modulation of the beam is also called the indirect ToF method.
- the time continuous modulation usually adopts a sine wave modulation method
- the photodetector can be realized by a CMOS or CCD photosensitive method
- the asynchronous discrete beam projector 2 continuously emits a collimated beam to the target object under high frequency modulation. 3.
- the photodetector array 101 After being reflected by the target object 3, it is received by the photodetector array 101.
- Each photodetector records the phase change between the emitted collimated beam and the received collimated beam, so that the depth information of the surface position of the target object 3 can be obtained.
- the ToF method based on time continuous modulation of the beam is an energy integration process, it has higher accuracy than pulsed measurement, and does not require the light source to be a short-time high-intensity pulse. Different types of light sources can be used and different modulation methods can be used.
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Abstract
An asynchronous ToF discrete point cloud-based 3D imaging apparatus, comprising: an asynchronous discrete light beam projector (2) sequentially projecting a plurality of discrete collimated light beams to different regions of a target object (3) in time order within a preset time period; and an optical detector array imager (1) sequentially receiving a plurality of discrete collimated light beams reflected by the target object (3) and measuring propagation time of the plurality of discrete collimated light beams, and then obtaining depth data of the plurality of regions of the target object (3), and generating depth data of the surface of the target object (3) according to the depth data of the plurality of regions of the target object (3). The invention can achieve the best accuracy and point cloud density for a specific 3D imaging application scenario, and can maintain a relatively low optical power each time a projection is performed, thereby satisfying the limitations to power consumption and laser for human eye safety.
Description
本公开涉及3D成像领域,具体地,涉及一种基于异步ToF离散点云的3D成像装置及电子设备。The present disclosure relates to the field of 3D imaging, and in particular, to a 3D imaging device and electronic equipment based on asynchronous ToF discrete point clouds.
ToF(time of flight)技术是一种从投射器发射测量光,并使测量光经过目标物体反射回到接收器,从而能够根据测量光在此传播路程中的传播时间来获取物体到传感器的空间距离的3D成像技术。常用的ToF技术包括单点扫描投射方法和面光投射方法。ToF (time of flight) technology is a technology that emits measurement light from the projector, and reflects the measurement light back to the receiver through the target object, so that the space from the object to the sensor can be obtained according to the propagation time of the measurement light in this propagation distance Distance 3D imaging technology. Commonly used ToF technology includes single point scanning projection method and surface light projection method.
单点扫描投射的ToF方法采用一个单点投射器,投射出单束的准直光,该单束的准直光的投射方向受到扫描器件的控制从而能够投射到不同的目标位置。光束单束的准直光经过目标物反射后,部分光被单点的光探测器接收,从而获取当前投射方向的深度测量数据。此种方法能够将所有的光功率集中在一个目标点上,从而在单个目标点实现的高信噪比,进而实现高精度的深度测量。整个目标物体的扫描依赖于扫描器件,比如机械马达、MEMS、光相控雷达等。将扫描获得的深度数据点拼接即可获取3D成像所需的离散点云数据。此种方法有利于实现远距离的3D成像,但需要使用复杂的投射扫描系统,成本较高。The ToF method of single-point scanning projection uses a single-point projector to project a single beam of collimated light, and the projection direction of the single beam of collimated light is controlled by the scanning device to be able to project to different target positions. After the collimated light of the single beam is reflected by the target, part of the light is received by the single-point light detector, thereby obtaining the depth measurement data of the current projection direction. This method can concentrate all the optical power on a target point, thereby achieving a high signal-to-noise ratio at a single target point, and then achieving high-precision depth measurement. The scanning of the entire target object relies on scanning devices, such as mechanical motors, MEMS, and optical phase-controlled radars. Splicing the depth data points obtained by scanning can obtain the discrete point cloud data required for 3D imaging. This method is conducive to realizing long-distance 3D imaging, but requires the use of a complex projection scanning system, and the cost is relatively high.
面光投射的ToF方法则是投射出一个能量连续分布的面光束。投射光连续覆盖目标物体表面。光探测器为一个能够获取光束传播时间的光探测器阵列。目标物体反射的光信号经过光学成像系统在光探测器上成像时,每个探测器像点获得的深度即为其物象关系对应物体位置的深度信息。这种方法能够摆脱复杂的扫描系统。然而,由于面光投射的光功率密度远低于单数的准直光,信噪比相对于单点扫描投射的方法大大下降,使得这种方法仅能够适配置为距离减小,精度较低的场景。The ToF method of surface light projection is to project a surface beam with continuous energy distribution. The projected light continuously covers the surface of the target object. The photodetector is an array of photodetectors that can obtain the travel time of the beam. When the light signal reflected by the target object is imaged on the light detector through the optical imaging system, the depth obtained by each detector image point is the depth information of the object position corresponding to the object image relationship. This method can get rid of complex scanning systems. However, since the optical power density of surface light projection is much lower than that of singular collimated light, the signal-to-noise ratio is greatly reduced compared to the single-point scanning projection method, so that this method can only be configured to reduce the distance and lower the accuracy. Scenes.
发明内容Summary of the invention
针对现有技术中的缺陷,本公开的目的是提供一种基于异步ToF离散点云的3D 成像装置及电子设备。本公开采用异步离散光束的投射方法,能够在每次投射时,保持较低的光功率,能够满足功耗和激光人眼安全的限制。In view of the defects in the prior art, the purpose of the present disclosure is to provide a 3D imaging device and electronic equipment based on asynchronous ToF discrete point clouds. The present disclosure adopts an asynchronous discrete beam projection method, which can maintain a low optical power during each projection, and can meet the limitations of power consumption and laser eye safety.
本公开提供的基于异步ToF离散点云的3D成像装置,包括异步离散光束投射器和光探测器阵列成像器;The 3D imaging device based on asynchronous ToF discrete point cloud provided by the present disclosure includes an asynchronous discrete beam projector and a photodetector array imager;
所述异步离散光束投射器,配置为在一预设的时间段内按时间顺序顺次向目标物体的不同区域投射多束离散准直光束;The asynchronous discrete beam projector is configured to sequentially project multiple discrete collimated beams to different regions of the target object in a time sequence within a preset time period;
所述光探测器阵列成像器,配置为顺次接收经所述目标物体反射的多束所述离散准直光束并测量出多束所述离散准直光束的传播时间,进而能够获得所述目标物体的多个区域的深度数据,根据所述目标物体多个区域的深度数据生成所述目标物体表面的深度数据。The photodetector array imager is configured to sequentially receive the multiple discrete collimated beams reflected by the target object and measure the propagation time of the multiple discrete collimated beams, so as to obtain the target The depth data of the multiple regions of the object is generated based on the depth data of the multiple regions of the target object.
可选地,所述异步离散光束投射器包括设置在一光路上的边发射激光器和光束投射器;Optionally, the asynchronous discrete beam projector includes an edge emitting laser and a beam projector arranged on an optical path;
所述边发射激光器,配置为向所述光束投射器投射激光;The edge emitting laser is configured to project laser light to the beam projector;
所述光束投射器,配置为将入射的所述激光在一预设的时间段内按时间顺序顺次向目标物体的不同区域投射多束离散准直光束。The beam projector is configured to project a plurality of discrete collimated beams of the incident laser light sequentially to different regions of the target object in a time sequence within a preset time period.
可选地,所述异步离散光束投射器包括设置在一光路上的激光器阵列、准直镜头和分束器件;Optionally, the asynchronous discrete beam projector includes a laser array, a collimating lens and a beam splitting device arranged on an optical path;
所述激光器阵列,包括多个呈阵列排列的多个激光器,多个所述激光器分为多个激光器发射组,在一预设的时间段内按时间顺序依次通过每个激光器发射组向所述准直镜头投射第一数量级的激光;The laser array includes a plurality of lasers arranged in an array, and the plurality of lasers are divided into a plurality of laser emitting groups, and each laser emitting group is sent to the The collimating lens projects the first order of magnitude laser;
所述准直镜头,配置为将入射的所述多束激光准直后出射第一数量级的准直光束;The collimating lens is configured to collimate the multiple incident laser beams and then emit a collimated beam of a first order of magnitude;
所述分束器件,配置为将入射的第一数量级的准直光束分束后出射第二数量级的准直光束;The beam splitting device is configured to split the incident collimated beam of the first order of magnitude and then emit the collimated beam of the second order of magnitude;
所述第二数量级大于所述第一数量级。The second order of magnitude is greater than the first order of magnitude.
可选地,所述光探测器阵列成像器包括光学成像镜头、光探测器阵列以及驱动电路;Optionally, the photodetector array imager includes an optical imaging lens, a photodetector array, and a driving circuit;
所述光探测器阵列包括多个呈阵列分布的光探测器,多个所述光探测器发射组分为多个光探测器组,每一所述光探测器组与一所述激光器发射组相对应;The photodetector array includes a plurality of photodetectors distributed in an array, and the plurality of photodetector emission groups are a plurality of photodetector groups, each of the photodetector groups and a laser emission group Corresponding;
所述光探测器组,配置为接收对应的激光器发射组发射后经所述目标物体反射的准直光束;The photodetector group is configured to receive the collimated light beam reflected by the target object after being emitted by the corresponding laser emitting group;
所述光学成像镜头,配置为使得透过所述光学成像镜头进入光探测器阵列的所述准 直光束的方向向量与光探测器呈一一对应关系;The optical imaging lens is configured such that the direction vector of the collimated light beam entering the photodetector array through the optical imaging lens has a one-to-one correspondence with the photodetector;
所述驱动电路,配置为测量出多束所述离散准直光束的传播时间并进而生成所述目标物体表面的多个区域的深度数据,进而根据所述目标物体多个区域的深度数据生成所述目标物体表面的深度数据。The driving circuit is configured to measure the propagation time of multiple discrete collimated light beams and then generate depth data of multiple regions on the surface of the target object, and then generate the depth data based on the depth data of multiple regions of the target object. Describe the depth data of the target surface.
可选地,所述多束离散准直光束周期性排布呈一预设定的形状。Optionally, the multiple discrete collimated light beams are periodically arranged in a predetermined shape.
可选地,所述预设定的形状包括如下任一形状或能够相互切换的任多个形状:Optionally, the preset shape includes any of the following shapes or any multiple shapes that can be switched with each other:
-直线形-Straight
-三角形;-triangle;
-四边形;-quadrilateral;
-矩形;-rectangle;
-圆形;-Round;
-六边形;-hexagon;
-五边形。-Pentagon.
可选地,所述多束离散准直光束非周期性排布呈另一预设定的形状。Optionally, the multiple discrete collimated beams are non-periodically arranged in another preset shape.
可选地,所述非周期性排布包括如下任一排布方式或能够相互切换的任多个排布方式:Optionally, the aperiodic arrangement includes any of the following arrangements or any multiple arrangements that can be switched between:
-随机排布;-Random arrangement;
-空间编码排布;-Space coding arrangement;
-准晶格排布。-Quasi-lattice arrangement.
可选地,所述异步离散光束投射器包括多组设置在一光路上的边发射激光器和光束投射器;Optionally, the asynchronous discrete beam projector includes multiple groups of edge-emitting lasers and beam projectors arranged on an optical path;
所述边发射激光器,配置为向所述光束投射器投射激光;所述光束投射器,配置为将入射的所述激光投射出多束离散准直光束;The edge-emitting laser is configured to project laser light to the beam projector; the beam projector is configured to project the incident laser light into multiple discrete collimated beams;
通过在所述一预设的时间段内按时间顺序顺次控制一组设置在一光路上的边发射激光器和光束投射器打开以向目标物体的不同区域投射多束离散准直光束。By sequentially controlling a group of edge-emitting lasers and beam projectors arranged on an optical path to turn on in the predetermined time period in a time sequence to project multiple discrete collimated beams to different regions of the target object.
本公开提供的电子设备,包括所述的基于异步ToF离散点云的3D成像装置,还包括显示面板;所述异步离散光束投射器和所述光探测器阵列成像器位于所述显示面板背光侧;The electronic equipment provided by the present disclosure includes the 3D imaging device based on asynchronous ToF discrete point clouds, and also includes a display panel; the asynchronous discrete beam projector and the photodetector array imager are located on the backlight side of the display panel ;
当所述异步离散光束投射器在一预设的时间段内按时间顺序顺次向目标物体的不同区域投射多束离散准直光束时,使得多束所述离散准直光束穿透显示面板后照射到目 标物体上;When the asynchronous discrete beam projector projects multiple discrete collimated light beams to different areas of the target object sequentially in time sequence within a preset time period, after the multiple discrete collimated light beams penetrate the display panel Shine on the target object;
所述光探测器阵列成像器接收所述目标物体反射后穿透所述显示面板的多束离散准直光束,并根据多束所述离散准直光束的传播时间获得所述目标物体的多个区域的深度数据,进而根据所述目标物体多个区域的深度数据生成所述目标物体表面的深度数据。The photodetector array imager receives multiple discrete collimated light beams that penetrate the display panel after being reflected by the target object, and obtains multiple discrete collimated light beams according to the propagation time of the multiple discrete collimated light beams. The depth data of the region, and then the depth data of the surface of the target object is generated according to the depth data of multiple regions of the target object.
与现有技术相比,本公开具有如下的有益效果:Compared with the prior art, the present disclosure has the following beneficial effects:
本公开通过异步离散光束投射器在一预设的时间段内按时间顺序向目标物体的不同区域投射多束离散准直光束,使得光探测器阵列成像器能够获得所述目标物体的多个区域的深度数据,根据所述目标物体多个区域的深度数据生成所述目标物体表面的深度数据,提高了光束功率密度,在信噪比与点云密度之间实现平衡,从而能够实现针对具体3D成像应用场景中最优化的精度和点云密度,并且能够在每次投射时,保持较低的光功率,能够满足功耗和激光人眼安全的限制。The present disclosure uses an asynchronous discrete beam projector to project multiple discrete collimated beams to different regions of the target object in a time sequence within a preset time period, so that the photodetector array imager can obtain multiple regions of the target object The depth data of the target object is generated based on the depth data of multiple regions of the target object, which improves the beam power density and achieves a balance between the signal-to-noise ratio and the point cloud density, so as to achieve specific 3D Optimized accuracy and point cloud density in imaging application scenarios, and can maintain a low optical power during each projection, which can meet the limitations of power consumption and laser eye safety.
为了更清楚地说明本公开实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本公开的实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据提供的附图获得其他的附图。通过阅读参照以下附图对非限制性实施例所作的详细描述,本公开的其它特征、目的和优点将会变得更明显:In order to explain the embodiments of the present disclosure or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are the embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present disclosure will become more apparent:
图1为本公开实施例中基于同步ToF离散点云的3D成像装置的结构示意图;FIG. 1 is a schematic structural diagram of a 3D imaging device based on synchronized ToF discrete point clouds in an embodiment of the disclosure;
图2为本公开实施例中异步离散光束投射器的一种结构示意图;2 is a schematic diagram of a structure of an asynchronous discrete beam projector in an embodiment of the disclosure;
图3为本公开实施例中异步离散光束投射器的另一种结构示意图;3 is a schematic diagram of another structure of an asynchronous discrete beam projector in an embodiment of the disclosure;
图4为本公开实施例中光学成像镜头的结构示意图;4 is a schematic structural diagram of an optical imaging lens in an embodiment of the disclosure;
图5(a)、(b)、(c)为本公开实施例中多束离散准直光束周期性排布的示意图;以及5(a), (b), (c) are schematic diagrams of the periodic arrangement of multiple discrete collimated beams in an embodiment of the disclosure; and
图6(a)、(b)、(c)为本公开实施例中多束离散准直光束非周期性排布的示意图。6(a), (b), (c) are schematic diagrams of aperiodic arrangement of multiple discrete collimated beams in an embodiment of the disclosure.
图中:In the picture:
1为光探测器阵列成像器;1 is a photodetector array imager;
2为异步离散光束投射器;2 is an asynchronous discrete beam projector;
3为目标物体;3 is the target object;
101为光探测器阵列;101 is a photodetector array;
102为光学成像镜头;102 is an optical imaging lens;
201为边发射激光器;201 is an edge emitting laser;
202为光束投射器;202 is a beam projector;
203为激光器阵列;203 is a laser array;
204为准直镜头;204 is a collimating lens;
205为分束器件。205 is a beam splitting device.
下面结合具体实施例对本公开进行详细说明。以下实施例将有助于本领域的技术人员进一步理解本公开,但不以任何形式限制本公开。应当指出的是,对本领域的普通技术人员来说,在不脱离本公开构思的前提下,还可以做出若干变形和改进。这些都属于本公开的保护范围。The disclosure will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present disclosure, but do not limit the present disclosure in any form. It should be pointed out that for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present disclosure. These all belong to the protection scope of the present disclosure.
需要说明的是,当元件被称为“固定于”或“设置于”另一个元件,它可以直接在另一个元件上或者间接在该另一个元件上。当一个元件被称为是“连接于”另一个元件,它可以是直接连接到另一个元件或间接连接至该另一个元件上。另外,连接即可以是配置为固定作用也可以是配置为电路连通作用。It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be configured for a fixed function or a circuit connection function.
需要理解的是,术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本公开实施例和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本公开的限制。It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top" The orientation or positional relationship indicated by "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present disclosure and simplifying the description, rather than indicating or imply The device or element must have a specific orientation, be configured and operate in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure.
此外,术语“第一”、“第二”仅配置为描述目的,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一个或者更多该特征。在本公开实施例的描述中,“多个”的含义是两个或两个以上,除非另有明确具体的限定。In addition, the terms "first" and "second" are only configured for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the embodiments of the present disclosure, "plurality" means two or more than two, unless otherwise specifically defined.
在本公开中,本公开提供了一种单点扫描投射方法和面光投射方法的折中方案,即用一个投射器同时投射出多束离散准直光束,与ToF光探测器阵列相配对,在单次测量中即可获得包含有多个目标点深度数据的同步3D点云。根据实际应用的需求,同时投射的准直光束的数量可以是几个到几万个不等。本公开可以通过控制光 束的数量,在同等功率下,实现光束功率密度(即信噪比)与点云密度的权衡与优化。即在光束数量较少时,每个点获得更高的信噪比和精度,但是点云比较稀疏;在光束数量较多时,点云更稠密,但是信噪比和精度相对下降,但仍然优于面光投射的方法。为了同时提高点云精度以及密度,本公开采用异步投射的方法,每次投射的光束的分布相对稀疏,在不同时刻投射的光束的分布不同,从而获得目标物体不同区域的点云数据。把多次投射测量获得的点云进行拼接后,即可获得相对稠密点云。从而能够实现针对具体3D成像应用场景中最优化的精度和点云密度,并且在每次投射时,保持较低的光功率,从而能够满足功耗和激光人眼安全的限制。In the present disclosure, the present disclosure provides a compromise solution between the single-point scanning projection method and the surface light projection method, that is, a projector is used to project multiple discrete collimated beams at the same time, which is paired with a ToF photodetector array, A synchronized 3D point cloud containing depth data of multiple target points can be obtained in a single measurement. According to actual application requirements, the number of collimated beams projected at the same time can range from a few to tens of thousands. The present disclosure can achieve the trade-off and optimization of the beam power density (i.e. signal-to-noise ratio) and the point cloud density by controlling the number of light beams under the same power. That is, when the number of beams is small, each point obtains higher signal-to-noise ratio and accuracy, but the point cloud is relatively sparse; when the number of beams is large, the point cloud is denser, but the signal-to-noise ratio and accuracy are relatively lower, but still excellent The method of surface light projection. In order to improve the accuracy and density of the point cloud at the same time, the present disclosure adopts an asynchronous projection method. The distribution of the beams projected each time is relatively sparse, and the distribution of the beams projected at different times is different, so as to obtain point cloud data of different regions of the target object. After the point clouds obtained by multiple projection measurements are stitched together, a relatively dense point cloud can be obtained. In this way, it is possible to achieve the most optimized accuracy and point cloud density for specific 3D imaging application scenarios, and to maintain a low optical power during each projection, so as to meet the limitations of power consumption and laser eye safety.
图1为本公开中基于同步ToF离散点云的3D成像装置的结构示意图,如图1所示,本公开提供的基于同步ToF离散点云的3D成像装置,配置为实现本公开提供的基于异步ToF离散点云的3D成像装置,包括异步离散光束投射器2和光探测器阵列成像器1;Figure 1 is a schematic structural diagram of a 3D imaging device based on a synchronous ToF discrete point cloud in the present disclosure. As shown in Figure 1, the 3D imaging device based on a synchronous ToF discrete point cloud provided by the present disclosure is configured to implement the asynchronous ToF based 3D imaging device provided by the present disclosure. 3D imaging device for ToF discrete point cloud, including asynchronous discrete beam projector 2 and photodetector array imager 1;
所述异步离散光束投射器2,配置为在一预设的时间段内按时间顺序顺次向目标物体3的不同区域投射多束离散准直光束;The asynchronous discrete beam projector 2 is configured to sequentially project multiple discrete collimated beams to different regions of the target object 3 in a time sequence within a preset time period;
所述光探测器阵列成像器1,配置为顺次接收经所述目标物体3反射的多束所述离散准直光束并测量出多束所述离散准直光束的传播时间,进而能够获得所述目标物体3的多个区域的深度数据,根据所述目标物体3多个区域的深度数据生成所述目标物体3表面的深度数据。The photodetector array imager 1 is configured to sequentially receive the multiple discrete collimated beams reflected by the target object 3 and measure the propagation time of the multiple discrete collimated beams, so as to obtain According to the depth data of the multiple regions of the target object 3, the depth data of the surface of the target object 3 is generated according to the depth data of the multiple regions of the target object 3.
在本公开一实施例中,所述预设的时间段可以设置为10毫秒;所述目标物体3至少包括第一区域和第二区域,从而可以在预设的时间段内通过异步离散光束投射器2内的一组激光器首先向所述第一区域投射多束离散准直光束,获取第一区域的深度数据,然后再通过异步离散光束投射器2内的另一组激光器向所述第二区域投射多束离散准直光束,获取第二区域的深度数据,根据第一区域的深度数据和第二区域的深度数据生成所述目标物体3表面的深度数据。所述第一区域和所述第二区域可以为相邻接的区域,也可以为相连接的区域。所述第一区域和所述第二区域也可以交织在一起,如第一区域包括多个随机分布的第一子区域,第二区域包括多个随机分布在任意相邻第一子区域空隙处的第二子区域。在变形例中所述目标物体3可以包括多个区域,如三个区域,四个区域等。In an embodiment of the present disclosure, the preset time period can be set to 10 milliseconds; the target object 3 includes at least a first area and a second area, so that it can be projected by asynchronous discrete beams within the preset time period A group of lasers in the device 2 first project multiple discrete collimated beams to the first area to obtain depth data of the first area, and then pass another group of lasers in the asynchronous discrete beam projector 2 to the second area. Multiple discrete collimated beams are projected into the area, the depth data of the second area is acquired, and the depth data of the surface of the target object 3 is generated according to the depth data of the first area and the depth data of the second area. The first area and the second area may be adjacent areas, or may be connected areas. The first area and the second area may also be intertwined. For example, the first area includes a plurality of randomly distributed first sub-areas, and the second area includes a plurality of randomly distributed first sub-areas at any gap between adjacent first sub-areas. The second sub-area. In the modified example, the target object 3 may include multiple regions, such as three regions, four regions, and so on.
在本公开一实施例中,在多个所述一预设的时间段内,所述异步离散光束投射器2按时间顺序顺次向目标物体3的不同区域投射多束离散准直光束,生成多个所述目标物体3表面的深度数据,进而根据多个所述目标物体3表面的深度数据迭代生成所述目标 物体3表面的最优深度数据。In an embodiment of the present disclosure, within a plurality of the predetermined time periods, the asynchronous discrete beam projector 2 sequentially projects multiple discrete collimated beams to different regions of the target object 3 in a time sequence to generate A plurality of depth data on the surface of the target object 3 is further used to generate optimal depth data on the surface of the target object 3 iteratively according to the depth data on the surface of the target object 3.
在本公开一实施例中,本公开通过异步离散光束投射器2在一预设的时间段内按时间顺序向目标物体3的不同区域投射多束离散准直光束,使得光探测器阵列成像器1能够获得所述目标物体3的多个区域的深度数据,根据所述目标物体3多个区域的深度数据生成所述目标物体3表面的深度数据,提高了光束功率密度,在信噪比与点云密度之间实现平衡,从而能够实现针对具体3D成像应用场景中最优化的精度和点云密度,并且能够在每次投射时,保持较低的光功率,能够满足功耗和激光人眼安全的限制。In an embodiment of the present disclosure, the present disclosure uses the asynchronous discrete beam projector 2 to project multiple discrete collimated beams to different areas of the target object 3 in a time sequence within a preset time period, so that the photodetector array imager 1 It is possible to obtain the depth data of multiple regions of the target object 3, and generate the depth data of the surface of the target object 3 according to the depth data of the multiple regions of the target object 3, which improves the beam power density. A balance between point cloud density can be achieved to achieve the most optimized accuracy and point cloud density for specific 3D imaging application scenarios, and to maintain a low optical power during each projection, which can meet the power consumption and laser eyes Security restrictions.
以上是本公开的核心思想,为使本公开的上述目的、特征和优点能够更加明显易懂,下面将结合本公开实施例中的附图,对本公开实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本公开一部分实施例,而不是全部的实施例。基于本公开中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本公开保护的范围。The above is the core idea of the present disclosure. In order to make the above objectives, features, and advantages of the present disclosure more obvious and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Description, obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present disclosure.
在本公开一实施例中,所述异步离散光束投射器2投射的呈离散形的多束离散准直光束经过目标物体3反射,部分反射后的准直光束被光探测器阵列101接收,每个光探测器都能够获得对应光束的从发射到接收的飞行时间t,从而通过光速c来获得准直光束的飞行距离s=ct,从而能够测量出每个被离散光束照射的目标物体3表面位置的深度信息。这些离散位置的深度数据点构建了可以复现物体3D形态的点云数据,从而实现对于目标物体3的3D成像。所述多束所述离散准直光束呈锥形。In an embodiment of the present disclosure, the multiple discrete collimated beams in a discrete shape projected by the asynchronous discrete beam projector 2 are reflected by the target object 3, and the partially reflected collimated beams are received by the photodetector array 101. Each photodetector can obtain the flight time t of the corresponding beam from emission to reception, and obtain the flight distance s=ct of the collimated beam through the speed of light c, so as to measure the surface of each target object 3 illuminated by the discrete beam The depth information of the location. These discrete depth data points construct point cloud data that can reproduce the 3D shape of the object, so as to realize the 3D imaging of the target object 3. The plurality of discrete collimated light beams have a cone shape.
在本公开一实施例中,所述多束离散准直光束的数量在两束和几万束之间,如2束至10万束。In an embodiment of the present disclosure, the number of the multiple discrete collimated beams is between two beams and tens of thousands of beams, such as 2 beams to 100,000 beams.
在本公开一实施例中,本公开提供的基于异步ToF离散点云的3D成像装置,包括与异步离散光束投射器2和光探测器阵列成像器1相连的驱动电路。该驱动电路配置为控制异步离散光束投射器2和光探测器阵列成像器1同时开启或关闭。In an embodiment of the present disclosure, the 3D imaging device based on asynchronous ToF discrete point cloud provided by the present disclosure includes a driving circuit connected with the asynchronous discrete beam projector 2 and the photodetector array imager 1. The driving circuit is configured to control the asynchronous discrete beam projector 2 and the photodetector array imager 1 to be turned on or off at the same time.
所述驱动电路可以是独立的专用电路,比如专用SOC芯片、FPGA芯片、ASIC芯片等等,也可以包含通用处理器,比如当该深度相机被集成到如手机、电视、电脑等智能终端中去,终端中的处理器可以作为该处理电路的至少一部The driving circuit can be an independent dedicated circuit, such as a dedicated SOC chip, FPGA chip, ASIC chip, etc., or a general-purpose processor, for example, when the depth camera is integrated into smart terminals such as mobile phones, TVs, computers, etc. , The processor in the terminal can be used as at least part of the processing circuit
图2为本公开中异步离散光束投射器的一种结构示意图,如图2所示,所述异步离散光束投射器2包括设置在一光路上的边发射激光器201和光束投射器202;FIG. 2 is a schematic structural diagram of the asynchronous discrete beam projector in the present disclosure. As shown in FIG. 2, the asynchronous discrete beam projector 2 includes an edge emitting laser 201 and a beam projector 202 arranged on an optical path;
所述边发射激光器201,配置为向所述光束投射器202投射激光;The edge-emitting laser 201 is configured to project laser light to the beam projector 202;
所述光束投射器202,配置为将入射的所述激光在一预设的时间段内按时间顺序顺 次向目标物体3的不同区域投射多束离散准直光束。The beam projector 202 is configured to project a plurality of discrete collimated beams of the incident laser light to different regions of the target object 3 sequentially in time sequence within a preset time period.
所述光束投射器202设置有多组光束投射口,通过在所述一预设的时间段内按时间顺序顺次控制一组光束投射口以向目标物体3的不同区域投射多束离散准直光束。即在一预设的时间段内,每组光束投射口均打开一次以投射多束离散准直光束,当一组光束投射口打开时,其他组光束投射口关闭。所述光束投射口的开闭可以通过电磁驱动或微型电机驱动挡块进行开闭。The beam projector 202 is provided with multiple sets of beam projection ports, and a set of beam projection ports are sequentially controlled in a chronological order within the predetermined period of time to project multiple beams of discrete collimation to different regions of the target object 3. beam. That is, within a preset time period, each group of beam projection ports is opened once to project multiple discrete collimated beams. When one group of beam projection ports is opened, the other groups of beam projection ports are closed. The opening and closing of the light beam projection port can be opened and closed by electromagnetic drive or micro-motor drive block.
在本公开一实施例中,所述光束投射器202能够实现将来自于边发射激光器201的入射光分成任意多束准直光束的功能。所述边发射激光器201的发射方向和所述光束投射器202的投射方向即可以相同,也可以成90度或者为光学系统设计所需的任意角度。In an embodiment of the present disclosure, the beam projector 202 can realize the function of dividing the incident light from the edge-emitting laser 201 into any number of collimated beams. The emission direction of the edge-emitting laser 201 and the emission direction of the beam projector 202 may be the same, or may be 90 degrees or any angle required for the design of the optical system.
在本公开一实施例中,由于所述分束投射器的内表面加工了微纳结构的光芯片并配合光学透镜组成。所述分束投射器能够实现将来自于边发射激光器201的入射光分成任意多束准直光束的功能。所述边发射激光器201的发射方向和所述分束投射器的投射方向即可以相同,也可以成90度或者为光学系统设计所需的任意角度。In an embodiment of the present disclosure, because the inner surface of the beam splitting projector is processed with a micro-nano structure optical chip and is composed of an optical lens. The beam splitting projector can realize the function of dividing the incident light from the edge-emitting laser 201 into any number of collimated beams. The emission direction of the edge-emitting laser 201 and the projection direction of the beam splitting projector may be the same, or may be 90 degrees or any angle required for the design of the optical system.
在本公开一实施例中,所述异步离散光束投射器2包括多组设置在一光路上的边发射激光器201和光束投射器202;In an embodiment of the present disclosure, the asynchronous discrete beam projector 2 includes multiple sets of edge emitting lasers 201 and beam projectors 202 arranged on an optical path;
所述边发射激光器201,配置为向所述光束投射器202投射激光;所述光束投射器202,配置为将入射的所述激光投射出多束离散准直光束;The edge-emitting laser 201 is configured to project laser light to the beam projector 202; the beam projector 202 is configured to project the incident laser light into multiple discrete collimated beams;
在本公开一实施例中,通过在所述一预设的时间段内按时间顺序顺次控制一组设置在一光路上的边发射激光器201和光束投射器202打开以向目标物体3的不同区域投射多束离散准直光束。即在一预设的时间段内,每组设置在一光路上的边发射激光器201和光束投射器202均打开一次以投射多束离散准直光束,当一组设置在一光路上的边发射激光器201和光束投射器202打开时,其他组设置在一光路上的边发射激光器201和光束投射器202关闭。In an embodiment of the present disclosure, a group of edge-emitting lasers 201 and beam projectors 202 arranged on an optical path are sequentially controlled in a chronological order within the predetermined period of time to turn on the target object 3. The area projects multiple discrete collimated beams. That is, within a preset period of time, each group of edge-emitting lasers 201 and beam projectors 202 set on an optical path are turned on once to project multiple discrete collimated beams. When the laser 201 and the beam projector 202 are turned on, the edge-emitting laser 201 and the beam projector 202 of the other groups arranged on an optical path are turned off.
图3为本公开中异步离散光束投射器的另一种结构示意图,如图3所示,所述异步离散光束投射器2包括设置在一光路上的激光器阵列203、准直镜头204和分束器件205;FIG. 3 is a schematic diagram of another structure of the asynchronous discrete beam projector in this disclosure. As shown in FIG. 3, the asynchronous discrete beam projector 2 includes a laser array 203, a collimating lens 204, and a beam splitter arranged on an optical path. Device 205;
所述激光器阵列203,包括多个呈阵列排列的多个激光器,多个所述激光器分为多个激光器发射组,在一预设的时间段内按时间顺序依次通过每个激光器发射组向所述准直镜头204投射第一数量级的激光;The laser array 203 includes a plurality of lasers arranged in an array, and the plurality of lasers are divided into a plurality of laser emitting groups, and pass through each laser emitting group to all the lasers in a predetermined period of time. The collimating lens 204 projects a laser of the first order of magnitude;
所述准直镜头204,配置为将入射的所述多束激光准直后出射第一数量级的准直光束;The collimating lens 204 is configured to collimate the multiple incident laser beams and then emit a collimated beam of a first order of magnitude;
所述分束器件205,配置为将入射的第一数量级的准直光束分束后出射第二数量级的准直光束;The beam splitting device 205 is configured to split an incident collimated beam of a first order of magnitude and then emit a collimated beam of a second order of magnitude;
所述第二数量级大于所述第一数量级。The second order of magnitude is greater than the first order of magnitude.
在本公开一实施例中,每个所述激光器或每组所述激光器可以单独控制发射,从而可以在通过在一预设的时间段,将控制每组激光器发射激光,实现对目标物体3的不同区域投射的投射。所述激光器发射组的数量与所述目标物体3的区域数量相一致。In an embodiment of the present disclosure, each of the lasers or each group of the lasers can be individually controlled to emit, so that each group of lasers can be controlled to emit lasers during a preset time period to achieve the target object 3 Projections from different areas. The number of the laser emitting groups is consistent with the number of regions of the target object 3.
在本公开一实施例中,所述激光器阵列203可以采用多个垂直腔面发射激光器(Vertical Cavity Surface Emitting Laser,VCSEL)或者多个边发光激光器(Edge Emitting Laser,EEL)组成。多束激光经过准直镜头204后可以成为高度平行的准直光束。根据实际应用中可以根据离散光束数量的需求,可以采用分束器件205实现更多的准直光束。所述分束器件205可以采用衍射光栅(DOE)和空间光调制器(SLM)等。In an embodiment of the present disclosure, the laser array 203 may be composed of multiple vertical cavity surface emitting lasers (VCSEL) or multiple edge emitting lasers (Edge Emitting Laser, EEL). After passing through the collimating lens 204, multiple laser beams can become highly parallel collimated beams. According to the requirement of the number of discrete beams in practical applications, the beam splitting device 205 can be used to achieve more collimated beams. The beam splitting device 205 may adopt a diffraction grating (DOE), a spatial light modulator (SLM), and the like.
图4为本公开中光学成像镜头的结构示意图,如图4所示,所述光探测器阵列成像器1包括光学成像镜头102、光探测器阵列101以及驱动电路;4 is a schematic diagram of the structure of the optical imaging lens in this disclosure. As shown in FIG. 4, the photodetector array imager 1 includes an optical imaging lens 102, a photodetector array 101, and a driving circuit;
所述光探测器阵列101包括多个呈阵列分布的光探测器,多个所述光探测器发射组分为多个光探测器组,每一所述光探测器组与一所述激光器发射组相对应;The photodetector array 101 includes a plurality of photodetectors distributed in an array, and the plurality of photodetector emission groups are a plurality of photodetector groups, and each of the photodetector groups and a laser emitting Group corresponding
所述光探测器组,配置为接收对应的激光器发射组发射后经所述目标物体3反射的准直光束;The photodetector group is configured to receive the collimated light beam reflected by the target object 3 after being emitted by the corresponding laser emitting group;
所述光学成像镜头102,配置为使得透过所述光学成像镜头102进入光探测器阵列101的所述准直光束的方向向量与光探测器呈一一对应关系;The optical imaging lens 102 is configured such that the direction vector of the collimated light beam entering the photodetector array 101 through the optical imaging lens 102 has a one-to-one correspondence with the photodetector;
所述驱动电路,配置为测量出多束所述离散准直光束的传播时间并进而生成所述目标物体3表面的多个区域的深度数据,进而根据所述目标物体3多个区域的深度数据生成所述目标物体3表面的深度数据。The driving circuit is configured to measure the propagation time of multiple discrete collimated light beams and then generate depth data of multiple regions on the surface of the target object 3, and then according to the depth data of multiple regions of the target object 3 The depth data of the surface of the target object 3 is generated.
在本公开一实施例中,将所述光探测器组与所述激光器发射组一一对应,即每个探测器与投射的准直光束之间的空间关系通过标定准确对应时,在异步模式下,可以只打开一正在投射的准直光束的激光器组对应的光探测器组,将其他的光探测器组关闭,从而能够降低光探测器的功耗和系统噪声干扰。所述光探测器组的数量与所述目标物体3的区域数量相一致。In an embodiment of the present disclosure, the photodetector group and the laser emitting group are in a one-to-one correspondence, that is, when the spatial relationship between each detector and the projected collimated beam is accurately corresponded by calibration, in the asynchronous mode Next, only the photodetector group corresponding to the laser group of the collimated beam being projected can be turned on, and the other photodetector groups can be turned off, thereby reducing the power consumption of the photodetector and system noise interference. The number of the photodetector groups is consistent with the number of regions of the target object 3.
在本公开一实施例中,为了过滤背景噪声,所述光学成像镜头102内通常还装有窄带滤光片,使得所述光探测器阵列101仅能通过预设的波长的入射准直光束。所述预设的波长可以为入射准直光束的波长,也可以为小于入射准直光束50纳米和大于入射准 直光束50纳米之间。所述光探测器阵列101可以呈周期或者非周期性排列。每个光探测器与辅助电路配合可以实现对准直光束的飞行时间进行测量。根据离散准直光束数量的需求,光探测器阵列101可以是多个单点光探测器的组合或者是一个集成了多个光探测器的传感器芯片。为了进一步优化光探测器的灵敏度,一个离散准直光束在目标物体3上的照射光斑可以对应一个或者多个光探测器。在多个光探测器对应同一个照射光斑时,每个探测器的信号可以通过电路连通,从而在能够合并为一个探测面积更大的光探测器。In an embodiment of the present disclosure, in order to filter background noise, a narrow-band filter is usually installed in the optical imaging lens 102, so that the photodetector array 101 can only pass the incident collimated light beam with a preset wavelength. The predetermined wavelength may be the wavelength of the incident collimated beam, or may be between 50 nanometers less than the incident collimated beam and 50 nanometers greater than the incident collimated beam. The photodetector array 101 may be arranged periodically or non-periodically. Each photodetector cooperates with the auxiliary circuit to realize the time-of-flight measurement of the straight beam. According to the requirement of the number of discrete collimated beams, the photodetector array 101 can be a combination of multiple single-point photodetectors or a sensor chip integrating multiple photodetectors. In order to further optimize the sensitivity of the photodetector, the irradiation spot of a discrete collimated beam on the target object 3 may correspond to one or more photodetectors. When multiple photodetectors correspond to the same illumination spot, the signal of each detector can be connected through a circuit, so that it can be combined into a photodetector with a larger detection area.
在本公开的一实施例中,所述多束离散准直光束周期性排布呈一预设定的形状,即呈几何规律分布。In an embodiment of the present disclosure, the multiple discrete collimated beams are periodically arranged in a predetermined shape, that is, distributed in a geometric regularity.
图5(a)、(b)、(c)为本公开中多束离散准直光束周期性排布的示意图,如图5所示,在本公开的一实施例中,所述预设定的形状包括如下任一形状或能够相互切换的任多个形状:5(a), (b), (c) are schematic diagrams of the periodic arrangement of multiple discrete collimated beams in the present disclosure. As shown in FIG. 5, in an embodiment of the present disclosure, the preset The shape of includes any of the following shapes or any multiple shapes that can be switched between:
-直线形-Straight
-三角形;-triangle;
-四边形;-quadrilateral;
-矩形;-rectangle;
-圆形;-Round;
-六边形;-hexagon;
-五边形。-Pentagon.
其中,所述多束离散准直光束周期性排布的形状并不限于上述形状,也可排布呈其他形状。如图5(a)所示,当预设定的形状为矩形时,即在一个周期内的准直光束单位排布形状为矩形,在并且在空间中周期性重复。如图5(b)所示,当预设定的形状为三角形时,即在一个周期内的准直光束的单位排布形状为三角形,并且在空间中周期性重复。如图5(c)所示,当预设定的形状为六边形时,即在一个周期内的准直光束单位排布形状为六边,并且在空间中周期性重复。由于本公开在实现时受限于光学系统,实际准直光束在截面的排布可能存在畸变,比如发生拉伸、扭曲等。而每个准直光束在截面中的能量分布可以是圆形、圆环或椭圆形等者其他形状。在如5所示的这种排布方式,将有利于简化多束离散准直光束和光探测器阵列101的空间对应关系。Wherein, the shape of the periodic arrangement of the multiple discrete collimated beams is not limited to the above-mentioned shape, and may be arranged in other shapes. As shown in FIG. 5(a), when the preset shape is rectangular, that is, the unit arrangement shape of the collimated beams in one period is rectangular, and it repeats periodically in space. As shown in FIG. 5(b), when the preset shape is a triangle, that is, the unit arrangement shape of the collimated light beam in one period is a triangle, and it repeats periodically in space. As shown in Fig. 5(c), when the preset shape is a hexagon, that is, the unit arrangement shape of the collimated beams in a period is a hexagon, and it repeats periodically in space. Since the implementation of the present disclosure is limited by the optical system, the arrangement of the actual collimated beam in the cross-section may be distorted, such as stretching and distortion. The energy distribution of each collimated beam in the cross-section can be in other shapes such as a circle, a ring, or an ellipse. In such an arrangement as shown in 5, it is beneficial to simplify the spatial correspondence between the multiple discrete collimated beams and the photodetector array 101.
在本公开的一实施例中,所述多束离散准直光束非周期性排布呈另一预设定的形状。In an embodiment of the present disclosure, the multiple discrete collimated beams are non-periodically arranged in another preset shape.
在本公开的一实施例中,所述非周期性排布包括如下任一排布方式或能够相互切换 的任多个排布方式:In an embodiment of the present disclosure, the aperiodic arrangement includes any of the following arrangements or any multiple arrangements that can be switched between:
-随机排布;-Random arrangement;
-空间编码排布;-Space coding arrangement;
-准晶格排布。-Quasi-lattice arrangement.
其中,所述多束离散准直光束非周期性排布的形状并不限于上述形状,也可排布呈其他形状。如图6(a)所示,所述空间编码排布,具体为在在周期性排布中,缺省一部分的光束,从而实现排布位置的空间编码,在实际可以采用的编码不受限于图6(a)中示例;如图6(b)所示,所述随机排布,具体为准直光束的排布随机分布,使得不同位置的排布方式的相似性很小或者接近于零,如图6(c)所示,所述准晶格排布,具体为准直光束在近距离相邻位置非周期性排布,在远距离周期性排布。由于本公开在实现时受限于光学系统,实际准直光束在截面的排布可能存在畸变,比如发生拉伸、扭曲等。而每个准直光束在截面中的能量分布可以是圆形、圆环或椭圆形等者其他形状。在如6所示的这种排布方式,这种排布有利于对非确定目标的均匀采样,优化最终3D深度图的效果。Wherein, the shape of the aperiodic arrangement of the multiple discrete collimated light beams is not limited to the above-mentioned shape, and may be arranged in other shapes. As shown in Figure 6(a), the spatial coding arrangement is specifically that in the periodic arrangement, a part of the light beam is defaulted, so as to realize the spatial coding of the arrangement position. In practice, the coding that can be used is not limited. As shown in Figure 6(a); as shown in Figure 6(b), the random arrangement, specifically the arrangement of collimated beams, is randomly distributed, so that the similarity of the arrangement of different positions is small or close to Zero, as shown in FIG. 6(c), the quasi-lattice arrangement is specifically that the collimated light beams are arranged non-periodically at adjacent positions at a short distance, and periodically arranged at a long distance. Since the implementation of the present disclosure is limited by the optical system, the arrangement of the actual collimated beam in the cross-section may be distorted, such as stretching and distortion. The energy distribution of each collimated beam in the cross-section can be a circle, a ring, or an ellipse. In this arrangement as shown in 6, this arrangement is conducive to uniform sampling of non-determined targets and optimizes the effect of the final 3D depth map.
在本公开的一实施例中,所述光探测器采用如下任一种光传感器:In an embodiment of the present disclosure, the light detector adopts any of the following light sensors:
-CMOS光传感器;-CMOS light sensor;
-CCD光传感器;-CCD light sensor;
-SPAD光传感器。-SPAD light sensor.
其中,所述光探测器的型号选择并不限于上述光传感器,也可包括其他类型的光传感器。Wherein, the model selection of the light detector is not limited to the aforementioned light sensor, and may also include other types of light sensors.
在本实施例中,本公开提供的电子设备,包括所述的基于异步ToF离散点云的3D成像装置,还包括显示面板;所述异步离散光束投射器和所述光探测器阵列成像器位于所述显示面板背光侧;In this embodiment, the electronic device provided by the present disclosure includes the 3D imaging device based on asynchronous ToF discrete point cloud, and also includes a display panel; the asynchronous discrete beam projector and the photodetector array imager are located at The backlight side of the display panel;
当异步离散光束投射器2在一预设的时间段内按时间顺序顺次向目标物体3的不同区域投射多束离散准直光束,使得多束所述离散准直光束穿透显示面板后照射到目标物体3上;When the asynchronous discrete beam projector 2 sequentially projects multiple discrete collimated beams to different areas of the target object 3 in a time sequence within a preset period of time, so that the multiple discrete collimated beams penetrate the display panel and then illuminate To the target object 3;
所述光探测器阵列成像器1接收所述目标物体3反射后穿透所述显示面板的多束离散准直光束,并根据多束所述离散准直光束的传播时间获得所述目标物体3的多个区域的深度数据,进而根据所述目标物体3多个区域的深度数据生成所述目标物体3表面的深度数据。The photodetector array imager 1 receives the multiple discrete collimated light beams reflected by the target object 3 and penetrates the display panel, and obtains the target object 3 according to the propagation time of the multiple discrete collimated light beams The depth data of the multiple regions of the target object 3 is further generated according to the depth data of the multiple regions of the target object 3 to generate the depth data of the surface of the target object 3.
在本公开一实施例中,所述光探测器阵列成像器1保证了投射的多束离散准直光束 和光探测器阵列101的空间位置对应关系。使得光探测器阵列101中的每个光探测器均可以采用在时间连续调制光束或者脉冲的ToF方式来测量光的传播时间,进而借助光速来计算光传播的距离。In an embodiment of the present disclosure, the photodetector array imager 1 ensures the spatial position correspondence between the multiple discrete collimated beams projected and the photodetector array 101. In this way, each photodetector in the photodetector array 101 can use the ToF mode of continuously modulating the light beam or pulse in time to measure the propagation time of light, and then calculate the distance of light propagation by means of the speed of light.
基于脉冲的ToF方法也被称为direct ToF方法,具体为:所述光探测器能够灵敏地探测出一个光脉冲的波形,然后与光脉冲的发射时间相比,获得准直光束在异步离散光束投射器2和光探测器阵列成像器1之间传播的时间。此种方法中,常用的光探测器有单光子雪崩二极管(SPAD)。单光子雪崩二极管能够非常灵敏和高速地对光脉冲的光子进行计数。即在脉冲时间窗口内对不同时间的光子数量统计,恢复出脉冲的整体波形。基于脉冲的ToF方法对于投射器的功耗要求比较低,并且有利于排除多路径光束的干扰。The pulse-based ToF method is also called the direct ToF method, specifically: the photodetector can sensitively detect the waveform of a light pulse, and then compare with the emission time of the light pulse to obtain the collimated beam in the asynchronous discrete beam The travel time between the projector 2 and the photodetector array imager 1. In this method, the commonly used photodetector is a single photon avalanche diode (SPAD). The single-photon avalanche diode can count the photons of the light pulse very sensitively and at high speed. That is, the number of photons at different times is counted within the pulse time window, and the overall waveform of the pulse is restored. The pulse-based ToF method has relatively low requirements for the power consumption of the projector, and is beneficial to eliminate the interference of multipath beams.
基于时间连续调制光束的ToF方法也被成为indirect ToF方法。具体为:所述时间连续调制通常采用正弦波调制方式,所述光探测器可以采用CMOS或者CCD感光的方式实现,异步离散光束投射器2在高频率调制下,连续发射准直光束到目标物体3,经目标物体3反射后,被光探测器阵列101接收。每个光探测器记录发射的准直光束与接收的准直光束的相位变化,从而能够得到目标物体3表面位置的深度信息。由于基于时间连续调制光束的ToF方法是能量积分过程,相比脉冲式测量精度会更高,且不要求光源必须是短时高强度脉冲,可以采用不同类型的光源,能够运用不同的调制方法。The ToF method based on time-continuous modulation of the beam is also called the indirect ToF method. Specifically: the time continuous modulation usually adopts a sine wave modulation method, the photodetector can be realized by a CMOS or CCD photosensitive method, and the asynchronous discrete beam projector 2 continuously emits a collimated beam to the target object under high frequency modulation. 3. After being reflected by the target object 3, it is received by the photodetector array 101. Each photodetector records the phase change between the emitted collimated beam and the received collimated beam, so that the depth information of the surface position of the target object 3 can be obtained. Since the ToF method based on time continuous modulation of the beam is an energy integration process, it has higher accuracy than pulsed measurement, and does not require the light source to be a short-time high-intensity pulse. Different types of light sources can be used and different modulation methods can be used.
本说明书中各个实施例采用递进的方式描述,每个实施例重点说明的都是与其他实施例的不同之处,各个实施例之间相同相似部分互相参见即可。对所公开的实施例的上述说明,使本领域专业技术人员能够实现或使用本公开。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的,本文中所定义的一般原理可以在不脱离本公开的精神或范围的情况下,在其它实施例中实现。因此,本公开将不会被限制于本文所示的这些实施例,而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined in this document can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments shown in this text, but should conform to the widest scope consistent with the principles and novel features disclosed in this text.
以上对本公开的具体实施例进行了描述。需要理解的是,本公开并不局限于上述特定实施方式,本领域技术人员可以在权利要求的范围内做出各种变形或修改,这并不影响本公开的实质内容。The specific embodiments of the present disclosure have been described above. It should be understood that the present disclosure is not limited to the foregoing specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which does not affect the essence of the present disclosure.
Claims (10)
- 一种基于异步ToF离散点云的3D成像装置,包括异步离散光束投射器和光探测器阵列成像器;A 3D imaging device based on asynchronous ToF discrete point cloud, including asynchronous discrete beam projector and photodetector array imager;所述异步离散光束投射器,配置为在一预设的时间段内按时间顺序顺次向目标物体的不同区域投射多束离散准直光束;The asynchronous discrete beam projector is configured to sequentially project multiple discrete collimated beams to different regions of the target object in a time sequence within a preset time period;所述光探测器阵列成像器,配置为顺次接收经所述目标物体反射的多束所述离散准直光束并测量出多束所述离散准直光束的传播时间,进而能够获得所述目标物体的多个区域的深度数据,根据所述目标物体多个区域的深度数据生成所述目标物体表面的深度数据。The photodetector array imager is configured to sequentially receive the multiple discrete collimated beams reflected by the target object and measure the propagation time of the multiple discrete collimated beams, so as to obtain the target The depth data of the multiple regions of the object is generated based on the depth data of the multiple regions of the target object.
- 根据权利要求1所述的基于异步ToF离散点云的3D成像装置,其中,所述异步离散光束投射器包括设置在一光路上的边发射激光器和光束投射器;The 3D imaging device based on asynchronous ToF discrete point cloud according to claim 1, wherein the asynchronous discrete beam projector comprises an edge emitting laser and a beam projector arranged on an optical path;所述边发射激光器,配置为向所述光束投射器投射激光;The edge emitting laser is configured to project laser light to the beam projector;所述光束投射器,配置为将入射的所述激光在一预设的时间段内按时间顺序顺次向目标物体的不同区域投射多束离散准直光束。The beam projector is configured to project a plurality of discrete collimated beams of the incident laser light sequentially to different regions of the target object in a time sequence within a preset time period.
- 根据权利要求1所述的基于异步ToF离散点云的3D成像装置,其中,所述异步离散光束投射器包括设置在一光路上的激光器阵列、准直镜头和分束器件;The 3D imaging device based on asynchronous ToF discrete point cloud according to claim 1, wherein the asynchronous discrete beam projector comprises a laser array, a collimating lens and a beam splitting device arranged on an optical path;所述激光器阵列,包括多个呈阵列排列的多个激光器,多个所述激光器分为多个激光器发射组,在一预设的时间段内按时间顺序依次通过每个激光器发射组向所述准直镜头投射第一数量级的激光;The laser array includes a plurality of lasers arranged in an array, and the plurality of lasers are divided into a plurality of laser emitting groups, and each laser emitting group is sent to the The collimating lens projects the first order of magnitude laser;所述准直镜头,配置为将入射的所述多束激光准直后出射第一数量级的准直光束;The collimating lens is configured to collimate the multiple incident laser beams and then emit a collimated beam of a first order of magnitude;所述分束器件,配置为将入射的第一数量级的准直光束分束后出射第二数量级的准直光束;The beam splitting device is configured to split the incident collimated beam of the first order of magnitude and then emit the collimated beam of the second order of magnitude;所述第二数量级大于所述第一数量级。The second order of magnitude is greater than the first order of magnitude.
- 根据权利要求3所述的基于异步ToF离散点云的3D成像装置,其中,所述光探测器阵列成像器包括光学成像镜头、光探测器阵列以及驱动电路;The 3D imaging device based on asynchronous ToF discrete point cloud according to claim 3, wherein the photodetector array imager comprises an optical imaging lens, a photodetector array, and a driving circuit;所述光探测器阵列包括多个呈阵列分布的光探测器,多个所述光探测器发射组分为多个光探测器组,每一所述光探测器组与一所述激光器发射组相对应;The photodetector array includes a plurality of photodetectors distributed in an array, and the plurality of photodetector emission groups are a plurality of photodetector groups, each of the photodetector groups and a laser emission group Corresponding;所述光探测器组,配置为接收对应的激光器发射组发射后经所述目标物体反射的准直光束;The photodetector group is configured to receive the collimated light beam reflected by the target object after being emitted by the corresponding laser emitting group;所述光学成像镜头,配置为使得透过所述光学成像镜头进入光探测器阵列的所述准直光束的方向向量与光探测器呈一一对应关系;The optical imaging lens is configured such that the direction vector of the collimated light beam entering the photodetector array through the optical imaging lens has a one-to-one correspondence with the photodetector;所述驱动电路,配置为测量出多束所述离散准直光束的传播时间并进而生成所述目标物体表面的多个区域的深度数据,进而根据所述目标物体多个区域的深度数据生成所述目标物体表面的深度数据。The driving circuit is configured to measure the propagation time of multiple discrete collimated light beams and then generate depth data of multiple regions on the surface of the target object, and then generate the depth data based on the depth data of multiple regions of the target object. Describe the depth data of the target surface.
- 根据权利要求1所述的基于异步ToF离散点云的3D成像装置,其中,所述多束离散准直光束周期性排布呈一预设定的形状。The 3D imaging device based on asynchronous ToF discrete point cloud according to claim 1, wherein the multiple discrete collimated beams are periodically arranged in a predetermined shape.
- 根据权利要求5所述的基于异步ToF离散点云的3D成像装置,其中,所述预设定的形状包括如下任一形状或能够相互切换的任多个形状:The 3D imaging device based on asynchronous ToF discrete point clouds according to claim 5, wherein the preset shape includes any of the following shapes or any multiple shapes that can be switched with each other:-直线形-Straight-三角形;-triangle;-四边形;-quadrilateral;-矩形;-rectangle;-圆形;-Round;-六边形;-hexagon;-五边形。-Pentagon.
- 根据权利要求1所述的基于异步ToF离散点云的3D成像装置,其中,所述多束离散准直光束非周期性排布呈另一预设定的形状。The 3D imaging device based on asynchronous ToF discrete point clouds according to claim 1, wherein the multiple discrete collimated light beams are non-periodically arranged in another preset shape.
- 根据权利要求7所述的基于异步ToF离散点云的3D成像装置,其中,所述非周期性排布包括如下任一排布方式或能够相互切换的任多个排布方式:The 3D imaging device based on asynchronous ToF discrete point clouds according to claim 7, wherein the aperiodic arrangement includes any of the following arrangements or any multiple arrangements that can be switched between:-随机排布;-Random arrangement;-空间编码排布;-Space coding arrangement;-准晶格排布。-Quasi-lattice arrangement.
- 根据权利要求1所述的基于异步ToF离散点云的3D成像装置,其中,所述异步离散光束投射器包括多组设置在一光路上的边发射激光器和光束投射器;The 3D imaging device based on asynchronous ToF discrete point cloud according to claim 1, wherein the asynchronous discrete beam projector includes multiple sets of edge-emitting lasers and beam projectors arranged on an optical path;所述边发射激光器,配置为向所述光束投射器投射激光;所述光束投射器,配置为将入射的所述激光投射出多束离散准直光束;The edge-emitting laser is configured to project laser light to the beam projector; the beam projector is configured to project the incident laser light into multiple discrete collimated beams;通过在所述一预设的时间段内按时间顺序顺次控制一组设置在一光路上的边发射激光器和光束投射器打开以向目标物体的不同区域投射多束离散准直光束。By sequentially controlling a group of edge-emitting lasers and beam projectors arranged on an optical path to turn on in the predetermined time period in a time sequence to project multiple discrete collimated beams to different regions of the target object.
- 一种电子设备,包括权利要求1至9任一项所述的基于异步ToF离散点云的3D 成像装置,其中,还包括显示面板;所述异步离散光束投射器和所述光探测器阵列成像器位于所述显示面板背光侧;An electronic device, comprising the asynchronous ToF discrete point cloud-based 3D imaging device according to any one of claims 1 to 9, further comprising a display panel; the asynchronous discrete beam projector and the photodetector array imaging The device is located on the backlight side of the display panel;当所述异步离散光束投射器在一预设的时间段内按时间顺序顺次向目标物体的不同区域投射多束离散准直光束时,使得多束所述离散准直光束穿透显示面板后照射到目标物体上;When the asynchronous discrete beam projector projects multiple discrete collimated light beams to different areas of the target object sequentially in time sequence within a preset time period, after the multiple discrete collimated light beams penetrate the display panel Shine on the target object;所述光探测器阵列成像器接收所述目标物体反射后穿透所述显示面板的多束离散准直光束,并根据多束所述离散准直光束的传播时间获得所述目标物体的多个区域的深度数据,进而根据所述目标物体多个区域的深度数据生成所述目标物体表面的深度数据。The photodetector array imager receives multiple discrete collimated light beams that penetrate the display panel after being reflected by the target object, and obtains multiple discrete collimated light beams according to the propagation time of the multiple discrete collimated light beams. The depth data of the region, and then the depth data of the surface of the target object is generated according to the depth data of multiple regions of the target object.
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