WO2020257969A1 - 结构光投射装置、结构光投射方法及三维测量系统 - Google Patents

结构光投射装置、结构光投射方法及三维测量系统 Download PDF

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Publication number
WO2020257969A1
WO2020257969A1 PCT/CN2019/092534 CN2019092534W WO2020257969A1 WO 2020257969 A1 WO2020257969 A1 WO 2020257969A1 CN 2019092534 W CN2019092534 W CN 2019092534W WO 2020257969 A1 WO2020257969 A1 WO 2020257969A1
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Prior art keywords
target object
distance
ranging
signal
light
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English (en)
French (fr)
Inventor
侯俊科
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Shenzhen Goodix Technology Co Ltd
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Shenzhen Goodix Technology Co Ltd
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Priority to CN201980001085.6A priority Critical patent/CN110462438A/zh
Priority to PCT/CN2019/092534 priority patent/WO2020257969A1/zh
Publication of WO2020257969A1 publication Critical patent/WO2020257969A1/zh
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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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • 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
    • 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
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
    • 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
    • G01S7/491—Details of non-pulse systems
    • G01S7/4911—Transmitters
    • 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
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • G01S7/4915—Time delay measurement, e.g. operational details for pixel components; Phase measurement

Definitions

  • the embodiments of the present application relate to the field of data processing technology, and in particular to a structured light projection device, a structured light projection method, and a three-dimensional measurement system.
  • the basic principle of structured light technology is that a light signal (structured light) with certain structural characteristics is projected onto a target object through a projector, and then an image of the target object is collected by an image sensor.
  • This kind of optical signal with a certain structure will collect different image phase information due to the different optical path of the target object, and then convert the change of this structure into depth information through the arithmetic unit to obtain a three-dimensional structure.
  • the three-dimensional structure of the object being photographed is obtained by optical means, and then the obtained information is further applied.
  • one of the technical problems solved by the embodiments of the present invention is to provide a structured light projection device, a structured light projection method, and a three-dimensional measurement system to effectively control the projection of structured light.
  • An embodiment of the application provides a structured light projection device, which includes: a time-of-flight ranging module, a driver, and a projector.
  • the time-of-flight ranging module is used to calculate the target object and the projection by counting the flight time of the light signal.
  • the driver is used to adjust the intensity of the drive signal according to the distance
  • the projector is used to adjust the intensity of the structured light directed to the target object according to the intensity of the drive signal to pass the image
  • the sensor generates a structured image of the target object.
  • it further includes: an application processor configured to control the driver to adjust the intensity of the driving signal according to the distance.
  • the time-of-flight ranging module is further configured to transmit a ranging optical signal to the target object and receive the ranging optical signal reflected by the target object , And the distance between the target object and the projector is estimated based on the distance measuring light signal emitted to the target object and the flight time of the distance measuring light signal reflected by the target object.
  • the time-of-flight ranging module is further configured to transmit at least two frequency-relatively primed ranging optical signals to the target object, and the time-of-flight ranging module further It is used to receive the at least two frequency-relatively primed ranging optical signals reflected by the target object, and according to the ranging optical signal of each frequency emitted to the target object and the target object The flight time of the corresponding distance-finding optical signal reflected back respectively estimates the distance between the target object and the projector, and further estimates the distance between the target object and the projector according to at least two Distance to get the final estimated distance.
  • the time-of-flight ranging module is further configured to transmit a single-frequency ranging optical signal to the target object, and the time-of-flight ranging module is further configured to receive The ranging optical signal of a single frequency reflected back by the target object, and based on the ranging optical signal of a single frequency emitted to the target object and the ranging optical signal reflected back by the target object
  • the flight time of the integer wavelength and the fractional wavelength is estimated to estimate the distance between the target object and the projector.
  • the time-of-flight ranging module is further configured to use the ranging light signal emitted to the target object and the ranging light reflected back by the target object.
  • the phase difference of the signal is used to calculate the flight time to estimate the distance between the target object and the projector.
  • the driver generates a drive signal with an intensity less than a preset intensity threshold, and the projector emits a light intensity less than a preset intensity to the target under the drive of the drive signal. Ranging light signal of light intensity threshold.
  • the intensity of the structured light directed to the target object is in a proportional relationship with the distance.
  • the time-of-flight ranging module is further configured to detect the image of the target object, so as to perform light intensity analysis on the image of the target object to obtain the Image depth.
  • the time-of-flight ranging module is further configured to perform differential processing on the received optical signal to extract the ranging light reflected by the target object therefrom. signal.
  • the driver is further used to integrate link signal-to-noise ratio and human eye safety light intensity, and adjust the strength of the driving signal according to the distance.
  • the time-of-flight ranging module and the projector share a light source, the light source emits a ranging light signal to the target object in the ranging mode, and the light source is In the structured light mode, the structured light signal forming the structured image is projected to the target object.
  • the image sensor is further used to sense the ranging light signal reflected by the target in the ranging mode.
  • This application provides a structured light projection method, which includes:
  • the intensity of the structured light directed to the target object is adjusted according to the intensity of the driving signal to generate a structured image of the target object through an image sensor.
  • calculating the distance between the target object and the projector by counting the flight time of the optical signal includes: transmitting a ranging optical signal to the target object; The distance measuring light signal reflected by the target object, and the distance measurement light signal emitted to the target object and the flight time of the distance measuring light signal reflected by the target object are estimated to The distance between the projectors.
  • transmitting a ranging optical signal to the target object includes: transmitting at least two mutually primed ranging optical signals to the target object; At least two of the distance-finding optical signals with relatively prime frequencies reflected back by the object;
  • estimating the distance between the target object and the projector according to the distance measuring light signal emitted to the target object and the flight time of the distance measuring light signal reflected back by the target object includes : Estimating the target object and the projection respectively according to the distance measuring light signal of each frequency emitted to the target object and the flight time of the corresponding distance measuring light signal reflected back by the target object The distance between the projectors; according to the estimated at least two distances between the target object and the projector, the final estimated distance is obtained.
  • transmitting a ranging optical signal to the target object includes: transmitting a single-frequency ranging optical signal to the target object;
  • estimating the distance between the target object and the projector according to the distance measuring light signal emitted to the target object and the flight time of the distance measuring light signal reflected back by the target object includes : Receiving the ranging optical signal of a single frequency reflected by the target object, and according to the ranging optical signal of a single frequency emitted to the target object and the ranging optical signal reflected by the target object The flight time of the integer wavelength and the decimal wavelength of the ranging optical signal estimates the distance between the target object and the projector.
  • the target object is estimated based on the range-finding light signal emitted to the target object and the flight time of the range-finding light signal reflected by the target object
  • the distance to the projector includes: calculating the flight time based on the phase difference between the distance measuring light signal emitted to the target object and the distance measuring light signal reflected back by the target object to predict Estimate the distance between the target object and the projector.
  • the method further includes: generating a driving signal with an intensity less than a preset intensity threshold, and under the driving of the driving signal, emitting a light intensity less than the preset light intensity threshold to the target object Ranging optical signal.
  • the method further includes: transmitting a ranging light signal to the target object in the ranging mode, or projecting a structure for forming the structured image on the target object in the structured light mode Light signal.
  • the image sensor senses the ranging light signal reflected by the target in the ranging mode.
  • This application provides a three-dimensional measurement system, which includes: a structured light projection device, an image sensor, the structured light projection device includes: a time-of-flight ranging module, a driver, and a projector, the time-of-flight ranging module is used to pass Calculate the flight time of the optical signal to calculate the distance between the target object and the projector.
  • the driver is used to adjust the intensity of the driving signal according to the distance
  • the projector is used to adjust the direction of emission according to the intensity of the driving signal.
  • the intensity of the structured light of the target object; the image sensor is used to generate a structured image of the target object.
  • the flight time ranging module calculates the distance between the target object and the projector by counting the flight time of the light signal, the driver adjusts the intensity of the driving signal according to the distance, and the projection
  • the instrument adjusts the intensity of the structured light directed at the target object according to the intensity of the driving signal to generate a structured image of the target object through an image sensor, which achieves higher accuracy of object distance measurement and further high-precision control
  • the drive strength of the driver effectively controls the projection of structured light.
  • FIG. 1 is a schematic structural diagram of a three-dimensional measurement system in Embodiment 1 of the application;
  • FIG. 2 is a schematic diagram of the structure of the structured light projection device in the second embodiment of the application.
  • FIG. 3 is a schematic flowchart of a structured light projection method in Embodiment 3 of this application;
  • FIG. 4 is a schematic flowchart of a structured light projection method in Embodiment 4 of this application.
  • FIG. 5 is a schematic diagram of the structure of the photosensitive chip in the time-of-flight ranging module in the fifth embodiment of the application;
  • FIG. 6 is a schematic diagram of the structure of the enabling unit in the sixth embodiment.
  • Figure 1 is a schematic structural diagram of a three-dimensional measurement system in Embodiment 1 of the application; as shown in Figure 1, it includes: a structured light projection device, an image sensor, and the structured light projection device includes a time-of-flight ranging module, a driver, and A projector, the time-of-flight ranging module is used to calculate the distance between the target object and the projector by counting the flight time of the light signal, and the driver is used to adjust the intensity of the driving signal according to the distance, the projector It is used to adjust the intensity of the structured light directed to the target object according to the intensity of the drive signal; the image sensor is used to generate a structured image of the target object.
  • the structured light projection device includes a time-of-flight ranging module, a driver, and A projector
  • the time-of-flight ranging module is used to calculate the distance between the target object and the projector by counting the flight time of the light signal
  • the driver is used to adjust the intensity of the driving signal according to the distance
  • the time of flight ranging module is also called TOF (Time of flight) ranging module in the industry.
  • the TOF ranging module includes a signal source, a transmitter, and a photosensitive chip.
  • the signal source generates an electrical signal
  • the transmitter Also called a light source
  • the photosensitive chip with an image sensor on it
  • the flight time from the light signal leaving the transmitter to being reflected by the target object calculates the distance between the target object and the projector.
  • the optical signal emitted by the transmitter is preferably a modulated high-frequency optical signal.
  • the high-frequency optical signal may specifically be high-frequency infrared light, and the frequency can reach 100 MHz.
  • the specific modulation method may be a pulse-based method or a continuous wave intensity modulation method.
  • the TOF ranging module is actually a single-point TOF ranging module.
  • a beam of high-frequency modulated optical signal is transmitted, and the phase change between the emitted optical signal and the reflected optical signal is used to perform distance measurement.
  • the commonly used optical signal is infrared light.
  • an infrared bandpass filter is configured to ensure that only the transmitted optical signal has the same wavelength. The light signal can reach the photosensitive chip.
  • the TOF ranging module is actually an area array TOF ranging module.
  • the TOF ranging module and the projector can be integrated together, thereby reducing the size of the final product.
  • Figure 2 is a schematic structural diagram of the structured light projection device in the second embodiment of the application; as shown in Figure 2, when applied in a specific application scenario, the structured light projection device has a technical interaction with the application processor in the application scenario
  • the structured light projection device itself includes an application processor (AP), as shown in Figure 2, the time-of-flight ranging module is connected to the application processor, and the driver is connected to the application processor, and the projector is connected to the driver
  • the time-of-flight ranging module is used to calculate the distance between the target object and the projector by counting the flight time of the optical signal, the driver is used to adjust the strength of the driving signal according to the distance, and the projector is used to The intensity of the structured light directed to the target object is adjusted according to the intensity of the driving signal to generate a structured image of the target object through an image sensor.
  • the application processor can also be integrated into the time-of-flight ranging module, or, alternatively, in order to implement the above-mentioned basic processing of the time-of-flight ranging module, a processor has been configured in the time-of-flight ranging module , You can directly reuse the processor as an application processor.
  • structured light can be obtained in the following manner.
  • the point structured light method is a simple triangulation method.
  • the receiving direction of the point structured light method is immutable.
  • the light source and detection are moved synchronously. A single laser beam hits the surface of the object, and the reflected light spot is captured by the camera. Only one point can be processed at a time, and the measurement speed is slow.
  • Planar slit light is projected by the projection source, one structured light stripe is projected each time, and the depth of a cross-section can be obtained for each image.
  • the angle of the projected slit light By changing the angle of the projected slit light, more cross-sectional depths can be obtained, and the depth of the object can be obtained.
  • the coding method is divided into time coding method, spatial coding method, direct coding method, and color coding method.
  • the application processors on these electronic devices can be directly reused.
  • the application processor manages each module resource of the structured light projection device, thereby reducing the load of the baseband processor.
  • the time-of-flight ranging module and the projector share a light source, and the light source emits a ranging light signal to a target object in a ranging mode, or the light source In the structured light mode, the structured light signal forming the structured image is projected to the target object.
  • the image sensor is further used to sense the range-finding light signal reflected by the target object in the range-finding mode.
  • light sources can be separately configured for the time-of-flight ranging module and the projector.
  • Separate image sensors are configured for distance measurement and structured image formation, such as distance measurement image sensors and structured image sensors.
  • FIG. 3 is a schematic flowchart of a structured light projection method in Embodiment 3 of the application; as shown in FIG. 3, it includes the following steps:
  • the application processor controls the driver to generate a driving signal for driving the light source to transmit at least two distance-finding optical signals with mutually prime frequencies to the target object;
  • the photosensitive chip is enabled to start working, that is, the light emitted by the transmitter is synchronized with the photosensitive chip start working.
  • the image sensor of the time-of-flight ranging module receives at least two relatively prime-frequency ranging optical signals reflected by the target object;
  • the ranging optical signal may be an infrared signal modulated by high frequency.
  • the so-called frequency mutual prime can also be called the different frequencies of the ranging optical signals.
  • the phenomenon of distance aliasing may occur.
  • by transmitting two frequency mutually prime ranging optical signals That is, optical signals with different frequencies.
  • the distance of a wavelength distance situation is obtained, which is also called unambiguous range (unambiguous range) in the industry.
  • Flight of the processor on the time-of-flight ranging module according to the ranging optical signal of each frequency emitted to the target object and the corresponding ranging optical signal reflected back by the target object Time respectively estimates the distance between the target object and the projector, and further obtains the final estimated distance based on the estimated at least two distances between the target object and the projector.
  • the blur distances are respectively
  • the unknowns are actually n A , n B , Only n A and n B are required , so that the absolute value of the difference between d ⁇ A (n A +P A ) and d ⁇ B (n B +P B ) is the smallest, or even 0, you can finally get the projector and Estimated distance between target objects.
  • S304 The application processor controls the driver to adjust the strength of the driving signal according to the distance according to the final estimated distance;
  • the distance estimated by the above-mentioned time-of-flight ranging module is directly based on the time-of-flight of the optical signal. Therefore, it is less disturbed by the surrounding environment. Therefore, the measured distance is more accurate.
  • the distance adjusts the strength of the driving signal the accuracy is higher. Specifically, if the estimated distance is far, the intensity of the drive signal is increased so that the intensity of the structured light emitted by the projector is stronger; otherwise, the intensity of the structured light emitted by the projector is weaker.
  • the projector is used to adjust the intensity of the structured light directed to the target object according to the intensity of the driving signal, so as to generate a structured image of the target object through an image sensor.
  • the surface of the target object has a specific shape, distortion will occur when the coded image is irradiated to the surface of the target object by structured light. Therefore, by comparing the coded image with the structured light image, it can be determined that the structured image In-depth information.
  • FIG. 4 is a schematic flowchart of a structured light projection method in Embodiment 4 of this application; as shown in FIG. 4, it includes the following steps:
  • the application processor controls the light source of the time-of-flight ranging module to emit a single-frequency ranging optical signal to the target object;
  • the difference from the foregoing embodiment is that only a single frequency ranging optical signal is transmitted to the target object, which can effectively reduce the amount of ranging data and improve the efficiency.
  • the time-of-flight ranging module when the time-of-flight ranging module starts to transmit the ranging light signal, the time-of-flight ranging module is synchronously enabled to receive the single-frequency ranging light reflected by the target object.
  • time-of-flight ranging module enabling the time-of-flight ranging module to receive the single-frequency ranging optical signal reflected by the target object actually means that the time-of-flight ranging module is capable of receiving the single-frequency ranging optical signal reflected back
  • the state of the optical signal can be sensed once the ranging optical signal is reflected back by the target object.
  • the strength of the link also comprehensively considers the signal-to-noise ratio of the link, that is, to ensure that the signal-to-noise ratio of the link cannot be too small, and to ensure that the distance estimation can be accurately achieved.
  • the time-of-flight ranging module receives the single-frequency ranging optical signal reflected by the target object
  • the time-of-flight ranging module specifically calculates the time-of-flight based on the phase difference between the ranging optical signal emitted to the target object and the ranging optical signal reflected by the target object. Estimate the distance between the target object and the projector.
  • FIG. 5 is a schematic diagram of the structure of the photosensitive chip in the time-of-flight ranging module in Embodiment 5 of the application; as shown in FIG. 5, the photosensitive chip includes: a signal detector, an integer wavelength statistic, and A time-of-flight counter that enables the signal detector to detect the light signal reflected by the target object when the transmitter emits a light signal to the target object, and the integer wavelength statistic starts to emit the light signal to the target object.
  • the flight time counter and statistics start to emit the light signal to the target object Start and stop the phase of the fractional wavelength of the optical signal that the transmitter has emitted when the signal detector detects the optical signal reflected by the target object, and the distance calculator is used to calculate the number of integer wavelengths and The phase of the fractional wavelength calculates the distance between the target object and the distance measuring device.
  • the integer wavelength statistic is configured with an enable terminal, and the enable terminal is used to receive an enable signal, and the transmitter
  • the enable signal is used to enable the integer wavelength statistic device to start counting the number of integer wavelengths, and when the signal detector detects that it is reflected by the target object
  • the enable signal is used to control the integer wavelength statistic device to stop counting the number of integer wavelengths.
  • the integer wavelength statistic device is further equipped with a reset terminal for receiving a reset signal iRst, and the reset signal is used to control the resetting of the integer wavelength statistic device, starting from the point when the statistics starts to transmit the optical signal to the target object. , Cut off the number of integer wavelengths of the optical signal that the transmitter has emitted when the signal detector detects the optical signal reflected by the target object.
  • an enabling unit is also configured on the photosensitive chip, and the enabling unit generates an enable signal ienable for enabling the integer wavelength statistic to start statistical processing according to the emitted optical signal, and detects that the target is The light signal reflected by the object generates an enable signal ienable for controlling the integer wavelength statistic to stop counting.
  • the enabling unit is a comparator, and the comparator is configured to compare according to the emitted optical signal and a set reference threshold, and generate the enabling signal according to a result of the comparison.
  • the signal detector is turned off when the light signal reflected by the target object is detected.
  • the counting method is, for example, the integer number of direct wavelengths, or the integer number of cycles.
  • the light detected by the signal detector may also include environmental interference signals, that is, the light detected by the signal detector includes not only the light reflected by the target object, but also environmental interference signals from the application environment. For this reason, Especially the light signal that the target object starts to reflect back is relatively weak. If the environmental interference signal is not eliminated, an effective enable signal cannot be generated.
  • An interference elimination unit is also configured on the photosensitive chip to eliminate the environmental interference light signal to make
  • the integer wavelength statistic device counts the integer wavelength of the optical signal that has been emitted by the transmitter when the signal detector starts to emit the optical signal to the target object and ends when the signal detector detects the optical signal reflected by the target object. Quantity and phase of fractional wavelength.
  • the interference cancellation unit can be integrated into the enabling unit, or the enabling unit not only has the function of generating an enabling signal, but also has the function of eliminating environmental interference light signals.
  • the interference optical signal from the environment is eliminated through the differential method.
  • the interference cancellation unit can not only be integrated into the enabling unit.
  • the interference cancellation unit can also be a structure independent of the enabling unit.
  • the light source emits a ranging light signal to the target object in the ranging mode, or the light source projects the structured light signal forming the structured image to the target object in the structured light mode.
  • the image sensor senses the distance measurement light signal reflected by the target in the distance measurement mode, or it is also called the distance measurement and the formation of a structured image to share the image sensor.
  • Fig. 6 is a schematic diagram of the structure of the enabling unit in the sixth embodiment; as shown in Fig. 6, in this embodiment, the enabling unit includes: a band-pass filter, a multiplier, and a low-pass filter.
  • the multiplier is set at Between the band-pass filter and the low-pass filter, as a whole, the three structural components cooperate with each other, and are mainly used to filter the optical signals detected by the signal detector to eliminate environmental interference optical signals. In order to obtain the light signal reflected by the target object.
  • the band-pass filter performs band-pass filtering processing on the optical signal detected by the signal detector according to the set pass band; the low-pass filter performs low-pass filtering processing on the optical signal after the band-pass filtering , To eliminate the environmental interference light signal from it to obtain the light signal reflected by the target object.
  • the band-pass filtered optical signal and the set reference signal can be multiplied by the multiplier.
  • the low-pass filter performs multiplication processing on the band-pass filtered optical signal.
  • low-pass filtering is performed on the optical signal after the multiplication process to achieve the band-pass filtering of the light signal. The signal is processed by low-pass filtering, thereby eliminating the environmental interference light signal to obtain the light signal reflected by the target object.
  • the distance when calculating the distance, it is based on the light emitted by the emitter and the light emitted by the emitter hitting the target object and reflected by the target object. Therefore, in fact, the light emitted by the emitter , And the light emitted by the transmitter irradiates the target object and is reflected by the target object.
  • the frequency of the two rays can be regarded as equal. Therefore, in order to facilitate the rapid and direct detection from the signal detector
  • the ambient interference light signal is filtered out of the light to filter out the light emitted by the emitter irradiated on the target object and reflected by the target object, and the set reference signal has the same frequency as the optical signal emitted by the emitter to the target object .
  • the distance calculator includes an adder and a multiplier
  • the adder is used to sum the number of the integer wavelengths and the phase of the fractional wavelength
  • the multiplier is used to The wavelength of the optical signal and the result of the summation processing are multiplied to calculate the distance between the target object and the distance measuring device.
  • the distance between the target object and the distance measuring device can be specifically calculated by the following formula:
  • d represents the distance between the target object and the ranging device
  • ⁇ represents the wavelength of the ranging optical signal
  • Data[N:0] represents the number of integer wavelengths
  • the application processor controls the driver to adjust the strength of the driving signal according to the distance according to the estimated distance between the target object and the projector;
  • the projector is configured to adjust the intensity of the structured light directed to the target object according to the intensity of the driving signal, so as to generate a structured image of the target object through an image sensor.
  • the distance between the projector and the target object is estimated separately through the time-of-flight ranging module.
  • the time-of-flight ranging module can also use the time-of-flight ranging module to cooperate with the projector to estimate the projector.
  • the distance to the target object is equivalent to that the transmitter is replaced by a projector, and the time-of-flight ranging module is mainly responsible for receiving the reflected test light, and based on the test light emitted by the projector and the reflected test light. Estimate the distance between the projector and the target object.
  • image processing device may be implemented on an image processing chip or on other chips.
  • connection may be a wired connection or a wireless connection.
  • a programmable logic device Programmable Logic Device, PLD
  • FPGA Field Programmable Gate Array
  • HDL Hardware Description Language
  • ABEL Advanced Boolean Expression Language
  • AHDL Altera Hardware Description Language
  • HDCal JHDL
  • Lava Lava
  • Lola MyHDL
  • PALASM RHDL
  • VHDL Very-High-Speed Integrated Circuit Hardware Description Language
  • Verilog Verilog
  • the application processor can be implemented in any suitable manner.
  • the application processor can take the form of, for example, a microprocessor or a processor and a computer that stores computer readable program codes (such as software or firmware) executable by the (micro) processor. Reading media, logic gates, switches, application specific integrated circuits (ASICs), programmable logic application processors, and embedded micro application processors.
  • application processors include but are not limited to the following micro application processors: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicon Labs C8051F320, the memory application processor can also be implemented as part of the memory control logic.
  • the embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing functions specified in a flow or multiple flows in the flowchart and/or a block or multiple blocks in the block diagram.
  • the computing device includes one or more processors (CPU), input/output interfaces, network interfaces, and memory.
  • processors CPU
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • the memory may include non-permanent memory in computer readable media, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer readable media.
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash memory
  • Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology.
  • the information can be computer-readable instructions, data structures, program modules, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

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Abstract

一种结构光投射装置、结构光投射方法及三维测量系统，结构光投射装置包括：飞行时间测距模块、驱动器、以及投影仪。飞行时间测距模块用于通过统计光信号飞行时间计算目标物体与投影仪之间的距离。驱动器用于根据距离调整驱动信号的强度。投影仪用于根据驱动信号的强度调整射向目标物体的结构光的强度，以通过图像传感器生成目标物体的结构化图像。结构光投射装置实现了物距测量精度更高，进一步可实现高精度控制驱动器的驱动强度，有效地控制了结构光的投射。

Description

结构光投射装置、结构光投射方法及三维测量系统 技术领域
本申请实施例涉及数据处理技术领域，尤其涉及一种结构光投射装置、结构光投射方法及三维测量系统。
背景技术
结构光技术的基本原理是，通过投影仪将具有一定结构特征的光信号(结构光)投射到目标物体上，再由图像传感器采集目标物体的图像。这种具备一定结构的光信号，会因目标物体的不同光程，而采集不同的图像相位信息，然后通过运算单元将这种结构的变化换算成深度信息，以此来获得三维结构。简单来说就是，通过光学手段获取被拍摄物体的三维结构，再将获取到的信息进行更深入的应用。
为了尽可能采集到准确的相位信息以换算出能反应目标物体三维结构的深度信息，如何控制结构光的投射成为亟待解决的技术问题。
发明内容
有鉴于此，本发明实施例所解决的技术问题之一在于提供一种结构光投射装置、结构光投射方法及三维测量系统，用以有效控制结构光的投射。
本申请实施例提供了一种结构光投射装置，其包括：飞行时间测距模块、驱动器、以及投影仪，所述飞行时间测距模块用于通过统计光信号飞行时间计算目标物体与所述投影仪之间的距离，所述驱动器用于根据所述距离调整驱动信号的强度，所述投影仪用于根据所述驱动信号的强度调整射向所述目标物体的结构光的强度，以通过图像传感器生成所述目标物体的结构化图像。
可选地，在本申请的任一实施例中，还包括：应用处理器，所述应用处理器用于控制所述驱动器根据所述距离调整所述驱动信号的强度。
可选地，在本申请的任一实施例中，所述飞行时间测距模块进一步用于向所述目标物体发射测距光信号并接收被所述目标物体反射回的所述测距光信号，且根据向所述目标物体发射的测距光信号以及被所述目标物体反射回的所述测距光信号的飞行时间预估所述目标物体与所述投影仪之间的距离。
可选地，在本申请的任一实施例中，所述飞行时间测距模块进一步用于向所述目标物体发射至少两个频率互质的测距光信号，所述飞行时间测距模块进一步用于接收被所述目标物体反射回的至少两个频率互质的所述测距光信号，且根据向所述目标物体发射的每个频率的所述测距光信号以及被所述目标物体反射回的对应的所述测距光信号的飞行时间分别预估所述目标物体与所述投影仪之间的距离，进一步根据预估所述目标物体与所述投影仪之间的至少两个距离，得到最终的预估距离。
可选地，在本申请的任一实施例中，所述飞行时间测距模块进一步用于向所述目标物体发射单一频率的测距光信号，所述飞行时间测距模块进一步用于接收被所述目标物体反射回的单一频率的所述测距光信号，且根据向所述目标物体发射的单一频率的所述测距光信号以及被所述目标物体反射回的所述测距光信号的整数波长和小数波长的飞行时间预估所述目标物体与所述投影仪之间的距离。
可选地，在本申请的任一实施例中，所述飞行时间测距模块进一步用于根据向所述目标物体发射的测距光信号以及被所述目标物体反射回的所述测距光信号的相位差来计算所述飞行时间以预估所述目标物体与所述投影仪之间的距离。
可选地，在本申请的任一实施例中，所述驱动器生成一强度小于预设强度阈值的驱动信号，所述投影仪在所述驱动信号的驱动下向目标物体发射光强小于预设光强阈值的测距光信号。
可选地，在本申请的任一实施例中，射向所述目标物体的结构光的强度与所述距离成正比关系。
可选地，在本申请的任一实施例中，所述飞行时间测距模块进一步用于检测所述目标物体的图像，以对所述目标物体的图像进行光强分析得到所述目标物体的图像深度。
可选地，在本申请的任一实施例中，所述飞行时间测距模块进一步用于对接收到的光信号进行差分处理以从中提取到被所述目标物体反射回的所述测距光信号。
可选地，在本申请的任一实施例中，所述驱动器进一步用于综合链路信噪比以及人眼安全光强，并根据所述距离调整驱动信号的强度。
可选地，在本申请的任一实施例中，所述飞行时间测距模块和所述投影仪共用光源，所述光源在测距模式下向目标物体发射测距光信号，所述光源 在结构光模式下向目标物体投射形成所述结构化图像的结构光信号。
可选地，在本申请的任一实施例中，所述图像传感器进一步用于在测距模式下感应被目标反射回的测距光信号。
本申请提供一种结构光投射方法，其包括：
通过统计光信号飞行时间计算目标物体与所述投影仪之间的距离，
根据所述距离调整驱动信号的强度；
根据所述驱动信号的强度调整射向所述目标物体的结构光的强度，以通过图像传感器生成所述目标物体的结构化图像。
可选地，在本申请的任一实施例中，通过统计光信号飞行时间计算目标物体与所述投影仪之间的距离，包括：向所述目标物体发射测距光信号；接收被所述目标物体反射回的所述测距光信号，且根据向所述目标物体发射的测距光信号以及被所述目标物体反射回的所述测距光信号的飞行时间预估所述目标物体与所述投影仪之间的距离。
可选地，在本申请的任一实施例中，向所述目标物体发射测距光信号，包括：向所述目标物体发射至少两个频率互质的测距光信号；接收被所述目标物体反射回的至少两个频率互质的所述测距光信号；
对应地，根据向所述目标物体发射的测距光信号以及被所述目标物体反射回的所述测距光信号的飞行时间预估所述目标物体与所述投影仪之间的距离，包括：根据向所述目标物体发射的每个频率的所述测距光信号以及被所述目标物体反射回的对应的所述测距光信号的飞行时间分别预估所述目标物体与所述投影仪之间的距离；根据预估所述目标物体与所述投影仪之间的至少两个距离，得到最终的预估距离。
可选地，在本申请的任一实施例中，向所述目标物体发射测距光信号，包括：向所述目标物体发射单一频率的测距光信号；
对应地，根据向所述目标物体发射的测距光信号以及被所述目标物体反射回的所述测距光信号的飞行时间预估所述目标物体与所述投影仪之间的距离，包括：所接收被所述目标物体反射回的单一频率的所述测距光信号，且根据向所述目标物体发射的单一频率的所述测距光信号以及被所述目标物体反射回的所述测距光信号的整数波长和小数波长的飞行时间预估所述目标物体与所述投影仪之间的距离。
可选地，在本申请的任一实施例中，根据向所述目标物体发射的测距光信号以及被所述目标物体反射回的所述测距光信号的飞行时间预估所述目标 物体与所述投影仪之间的距离，包括：根据向所述目标物体发射的测距光信号以及被所述目标物体反射回的所述测距光信号的相位差来计算所述飞行时间以预估所述目标物体与所述投影仪之间的距离。
可选地，在本申请的任一实施例中，还包括：生成一强度小于预设强度阈值的驱动信号，在所述驱动信号的驱动下向目标物体发射光强小于预设光强阈值的测距光信号。
可选地，在本申请的任一实施例中，还包括：在测距模式下向目标物体发射测距光信号，或者，在结构光模式下向目标物体投射形成所述结构化图像的结构光信号。
可选地，在本申请的任一实施例中，所述图像传感器在测距模式下感应被目标反射回的测距光信号。
本申请提供一种三维测量系统，其包括：结构光投射装置、图像传感器，所述结构光投射装置包括：飞行时间测距模块、驱动器、以及投影仪，所述飞行时间测距模块用于通过统计光信号飞行时间计算目标物体与所述投影仪之间的距离，所述驱动器用于根据所述距离调整驱动信号的强度，所述投影仪用于根据所述驱动信号的强度调整射向所述目标物体的结构光的强度；所述图像传感器用于生成所述目标物体的结构化图像。
本申请实施例的方案中，所述飞行时间测距模块通过统计光信号飞行时间计算目标物体与所述投影仪之间的距离，所述驱动器根据所述距离调整驱动信号的强度，所述投影仪根据所述驱动信号的强度调整射向所述目标物体的结构光的强度，以通过图像传感器生成所述目标物体的结构化图像，实现了物距测量精度更高，进一步可实现高精度控制驱动器的驱动强度，有效地控制了结构光的投射。
附图说明
后文将参照附图以示例性而非限制性的方式详细描述本申请实施例的一些具体实施例。附图中相同的附图标记标示了相同或类似的部件或部分。本领域技术人员应该理解，这些附图未必是按比例绘制的。附图中：
图1为本申请实施例一中三维测量系统的结构示意图；
图2为本申请实施例二中结构光投射装置的结构示意图；
图3为本申请实施例三中结构光投射方法的流程示意图；
图4为本申请实施例四中结构光投射方法的流程示意图；
图5为本申请实施例五中飞行时间测距模块中感光芯片的结构示意图；
图6为本实施例六中使能单元的结构示意图。
具体实施方式
实施本发明实施例的任一技术方案必不一定需要同时达到以上的所有优点。
下面结合本发明实施例附图进一步说明本发明实施例具体实现。
图1为本申请实施例一中三维测量系统的结构示意图；如图1所示，其包括：结构光投射装置、图像传感器，所述结构光投射装置包括：飞行时间测距模块、驱动器、以及投影仪，所述飞行时间测距模块用于通过统计光信号飞行时间计算目标物体与所述投影仪之间的距离，所述驱动器用于根据所述距离调整驱动信号的强度，所述投影仪用于根据所述驱动信号的强度调整射向所述目标物体的结构光的强度；所述图像传感器用于生成所述目标物体的结构化图像。
本实施例中，飞行时间测距模块业界又称之为TOF(Time of flight)测距模块，该TOF测距模块包括：信号源、发射器、感光芯片，信号源产生一电信号，发射器(又称之为光源)用于将该电信号转换为光信号，并投射至目标物体，感光芯片(其上设置有图像传感器)用于接收被目标物体反射回的光信号，并根据通过统计光信号离开发射器到被目标物体反射回的飞行时间计算目标物体与所述投影仪之间的距离。
本实施例中，在具体应用时，所述发射器发出的光信号优选经过调制的高频光信号，该高频光信号具体可以为高频红外光，其频率可以达到100MHZ。
进一步地，具体的调制方式可以是基于脉冲的方式，也可以是基于连续波强度调制的方式。
具体地，在一种应用场景中，在基于脉冲的调制方式中，发射器发射一束脉冲光信号，通过脉冲快速精确获取照射到目标物体后反射回来的光信号的时间差t，由于光速c已知，只要知道照射的光信号和接收光信号的时间差，目标物体和投影仪之间的距离可以通过公式d＝t/2·c。对应此种方式，所述TOF测距模块实际上为单点TOF测距模块。
具体地，在另外一种应用场景中，基于连续波强度调制的方式中，发 射一束经过高频率调制的光信号，利用发射的光信号与反射回的光信号的相位变化来进行距离测量。在此种调制方式中，常用的光信号为红外光，另外，为了准确地接收到反射回的光信号，配置了一个红外带通滤光片，从而保证只有与发射的光信号具有相同波长相同的光信号可到达感光芯片。对应此种方式所述TOF测距模块实际上为面阵式TOF测距模块。
此处，需要说明的是，在具体实施时，由于可以将TOF测距模块与投影仪集成到一起，从而减小最终产品的体积大小。
图2为本申请实施例二中结构光投射装置的结构示意图；如图2所示，在具体应用场景中应用时，所述结构光投射装置与应用场景中的应用处理器存在技术上的交互或者在结构光投射装置本身包括应用处理器(Application Processor，简称AP)，如图2所示，飞行时间测距模块与应用处理器连接，且驱动器与应用处理器连接，以及投影仪与驱动器连接，所述飞行时间测距模块用于通过统计光信号飞行时间计算目标物体与所述投影仪之间的距离，所述驱动器用于根据所述距离调整驱动信号的强度，所述投影仪用于根据所述驱动信号的强度调整射向所述目标物体的结构光的强度，以通过图像传感器生成所述目标物体的结构化图像。
此处，需要说明的是，应用处理器也可以集成到飞行时间测距模块中，或者，或者，为了实现飞行时间测距模块的上述基础处理，在飞行时间测距模块中已经配置了处理器，则可以直接复用该处理器作为应用处理器。
本实施例中，结构光可以通过如下方式得到。
(1)点结构光
点结构光法是简单的三角法。点结构光法的接收方向是不可变的。当实现光栅式平面扫描时，光源和探测是同步移动的。单束激光打在物体表面，由摄像机摄取其反射光点。每次只能处理一点，测量速度慢。
(2)线结构光
通过投射源投射出平面狭缝光，每次投射一个结构光条纹，每幅图像可得到一个截面的深度，通过改变投射狭缝光的角度，获得更多截面的深度，进而获得物体的深度。
(3)多线结构光
以线结构光为基础，为了提高图像处理效率，在一幅图像内处理多条光条纹。
(4)编码结构光
在多线结构光基础上，为解决多条纹图像中，不同条纹的定位和匹配问题。编码法分为时间编码法、空间编码法、直接编码法、彩色编码法。
具体地，在一种应用场景中，由于各种电子设备上本身配置了具有较强数据处理能力的应用处理器，因此，可以直接复用这些电子设备上的应用处理器即可。通过应用处理器管理结构光投射装置的各个模块资源，从而减轻了基带处理器的负荷。
进一步地，在上述实施例或者其他实施例中，所述飞行时间测距模块和所述投影仪共用光源，所述光源在测距模式下向目标物体发射测距光信号，或者，所述光源在结构光模式下向目标物体投射形成所述结构化图像的结构光信号。
进一步地，在上述实施例或者其他实施例中，所述图像传感器进一步用于在测距模式下感应被目标物体反射回的测距光信号。
当然，在他应用场景中，可以为所述飞行时间测距模块和所述投影仪单独配置光源。为测距和形成结构化图像配置单独的图像传感器，比如分别称之测距图像传感器、结构化图像传感器。
图3为本申请实施例三中结构光投射方法的流程示意图；如图3所示，其包括如下步骤：
S301、应用处理器控制驱动器生成驱动光源的驱动信号以向所述目标物体发射至少两个频率互质的测距光信号；
本实施例中，如前所述，飞行时间测距模块中的发射器开始向目标物体发射测距光信号时，则使能感光芯片开始工作，即使得发射器发射光线同步于所述感光芯片开始工作。
S302、所述飞行时间测距模块的图像传感器接收被所述目标物体反射回的至少两个频率互质的所述测距光信号；
本实施例中，如前所述，测距光信号可以是经过高频调制的红外信号。所谓频率互质又可称之为测距光信号的频率不同。此处，考虑到基于相位差测距时，由于测距光信号是周期性信号，因此的导致会存在距离混叠的现象出现，为此，通过发射两个频率互质的测距光信号，即频率不同的光信号。进一步由于频率不同，波长不同，从而得到一个波长距离情形的距离，业界又称之模糊距离(Unambiguous Range)也会存在差异。
S303、所述飞行时间测距模块上的处理器根据向所述目标物体发射的每个频率的所述测距光信号以及被所述目标物体反射回的对应的所述测距光 信号的飞行时间分别预估所述目标物体与所述投影仪之间的距离，进一步根据预估的所述目标物体与所述投影仪之间的至少两个距离，得到最终的预估距离。
优选地，在具体实施时，比如用频率分别为f A、f B的光信号分别照射目标物体的话，模糊距离分别为
Figure PCTCN2019092534-appb-000001
为了后续计算模糊距离的个数或者又称之为次数，将
Figure PCTCN2019092534-appb-000002
转化为互为质数的整数之比
Figure PCTCN2019092534-appb-000003
假设频率为f A的光信号进行测试时得到的模糊距离的个数记为n A,n A的范围为0～(M A-1)，假设频率为f B的光信号进行测试时得到的模糊距离的个数为n B，n B的范围为0～(M B-1)。假设频率为f A的光信号进行测试时得到的相位差记为
Figure PCTCN2019092534-appb-000004
，假设频率为f B的光信号进行测试时得到的相位差记为
Figure PCTCN2019092534-appb-000005
对应地，将相位差对应的距离上分别有
Figure PCTCN2019092534-appb-000006
由此，理论上，投影仪与目标物体之间的距离d＝d μA(n A+P A)＝d μB(n B+P B)，在该公式中未知数实际上为n A、n B，只要求出n A、n B，使得d μA(n A+P A)-d μB(n B+P B)之间差值的绝对值最小，甚至为0，即可最终得到投影仪与目标物体之间的预估距离。
S304、所述应用处理器根据所述最终的预估距离控制驱动器根据所述距离调整所述驱动信号的强度；
本实施例中，通过上述飞行时间测距模块估计距离，由于是直接基于光信号的飞行时间，因此，受到周围环境的干扰较小，因此，测量出来的距离更加准确，从而在控制驱动器根据所述距离调整所述驱动信号的强度时，准确度更高。具体地，如果预估距离较远，则调大驱动信号的强度，以使得投影仪发射出去的结构光的光强较强，否则，使得投影仪发射出去的结构光的光强较弱。
S305、所述投影仪用于根据所述驱动信号的强度调整射向所述目标物体的结构光的强度，以通过图像传感器生成所述目标物体的结构化图像。
本实施例中，由于目标物体表面具有特定的形状，当通过结构光将编码图像照射到目标物体表面会发生畸变，由此，通过比对编码图像和结构光图像，从而可确定出结构图像上的深度信息。
图4为本申请实施例四中结构光投射方法的流程示意图；如图4所示，其包括如下步骤：
S401、应用处理器控制所述飞行时间测距模块的光源向所述目标物体发射单一频率的测距光信号；
本实施例中，与上述实施例不同的是，只向所述目标物体发射单一频率的测距光信号，可以有效降低测距的数据量以及提高效率。此处，与上述实施例相同的是，在飞行时间测距模块开始发射测距光信号时，同步使能所述飞行时间测距模块接收被所述目标物体反射回的单一频率的测距光信号，使能所述飞行时间测距模块接收被所述目标物体反射回的单一频率的测距光信号实际上意味着使得所述飞行时间测距模块处于可接收反射回的单一频率的测距光信号的状态，一旦有测距光信号被目标物体返射回，即可被感应到。
考虑到目标物体所在的视场内通常会有用户，因此，为了避免光线过强，给用户的眼睛带来不适，因此，优选选择向目标物体发射光强较弱的测试光线，同时，测试光线的强弱还综合考虑到链路的信噪比，即要保证链路的信噪比不能过小，也要保证可准确地实现距离的预估。
S402、所述飞行时间测距模块接收被所述目标物体反射回的单一频率的所述测距光信号；
S403、根据向所述目标物体发射的单一频率的所述测距光信号以及被所述目标物体反射回的所述测距光信号的整数波长和小数波长的飞行时间预估所述目标物体与所述投影仪之间的距离；
本实施例中，所述飞行时间测距模块具体根据向所述目标物体发射的测距光信号以及被所述目标物体反射回的所述测距光信号的相位差来计算所述飞行时间以预估所述目标物体与所述投影仪之间的距离。
在一种具体地的应用场景中，图5为本申请实施例五中飞行时间测距模块中感光芯片的结构示意图；如图5所示，感光芯片包括：信号检测器、整数波长统计器以及飞行时间计数器，在发射器向目标物体发射光信号时使能所述信号检测器检测被所述目标物体反射的光信号，所述整数波长统计器统计开始向目标物体发射所述光信号起、截止所述信号检测器检测到被所述目标物体反射的光信号时所述发射器已发射出的光信号的整数波长的数量，所述飞行时间计数器以及统计开始向目标物体发射所述光信号起、截止所述信号检测器检测到被所述目标物体反射的光信号时所述发射器已发射出的光信号的小数波长的相位，所述距离计算器用于根据所述整数波长的数量和所述小数波长的相位计算所述目标物体和所述测距装置之间的距离。
进一步地，为了使得信号检测器、整数波长统计器、飞行时间计数器以及发射器，所述整数波长统计器配置有使能端，所述使能端用于接收使能信号，在所述发射器开始向目标物体发射所述光信号时，所述使能信号用于使能 所述整数波长统计器开始统计所述整数波长的数量，以及在所述信号检测器检测到被所述目标物体反射的光信号，所述使能信号用于控制所述整数波长统计器停止统计所述整数波长的数量。
进一步地，所述整数波长统计器还配置有复位端，用于接收复位信号iRst，所述复位信号用于控制所述整数波长统计器的复位，以统计开始向目标物体发射所述光信号起、截止所述信号检测器检测到被所述目标物体反射的光信号时所述发射器已发射出的光信号的整数波长的数量。
进一步地，感光芯片上还配置有使能单元，所述使能单元根据发射的所述光信号生成使能所述整数波长统计器开始统计处理的使能信号ienable，以及检测到被所述目标物体反射的光信号生成控制所述整数波长统计器停止统计的使能信号ienable。
具体地，所述使能单元为比较器，所述比较器用于根据发射的所述光信号以及设定的参考门限进行比较，根据所述比较的结果生成所述使能信号。
本实施例中，作为所述整数波长统计器通过计数的方式统计开始向目标物体发射所述光信号起，截止所述信号检测器检测到被所述目标物体反射的光信号时，所述发射器已发射出的光信号的整数波长的个数。计数的方式比如是直接波长的整数个数，或者，周期的整数个数。
考虑到一些应用环境中，信号检测器检测的光线可能还包括环境干扰信号，即信号检测器检测到光线除了包括被目标物体反射回的光线，还包括来自应用环境的环境干扰信号，为此，尤其目标物体开始反射回的光信号较弱，如果不消除其中的环境干扰信号，无法产生有效的使能信号，在感光芯片上还配置有干扰消除单元，用于消除环境干扰光信号，以使所述整数波长统计器统计开始向目标物体发射所述光信号起、截止所述信号检测器检测到被所述目标物体反射的光信号时所述发射器已发射出的光信号的整数波长的数量以及小数波长的相位。该干扰消除单元可以集成到使能单元上，或者又称之使能单元不但具有产生使能信号的作用，还具有消除环境干扰光信号的作用。
另外，对于飞行时间统计器来说，在其中通过差分方式消除来自环境干扰光信号。
但是，此处需要说明的是，干扰消除单元并非只能集成到使能单元上，实际上，干扰消除单元也可以是一独立于使能单元的结构。
在上述方法实施例中，光源在测距模式下向目标物体发射测距光信号，或者，光源在结构光模式下向目标物体投射形成所述结构化图像的结构光信号。
在上述实施例中，所述图像传感器在测距模式下感应被目标反射回的测距光信号，或者又称之测距和形成结构化图像共用所述图像传感器。
图6为本实施例六中使能单元的结构示意图；如图6所示，本实施例中，使能单元包括：带通滤波器、乘法器、低通滤波器，所述乘法器设置在所述带通滤波器和低通滤波器之间，从整体上来看，这三个结构件相互配合，主要用于对所述信号检测器检测到的光信号进行滤波以从中消除环境干扰光信号以得到被所述目标物体反射的光信号。其中，所述带通滤波器根据设定的通带对所述信号检测器检测到的光信号进行带通滤波处理；所述低通滤波器对带通滤波后的光信号进行低通滤波处理，以从中消除环境干扰光信号以得到被所述目标物体反射的光信号。
本实施例中，如果包括乘法器，则通过乘法器可以对带通滤波的光信号与设定的参考信号进行乘法处理，进一步地，所述低通滤波器在对带通滤波后的光信号进行低通滤波处理以从中消除环境干扰光信号以得到被所述目标物体反射的光信号时，实际上是通过对乘法处理后的光信号进行低通滤波处理，实现对带通滤波后的光信号进行低通滤波处理，从而从中消除环境干扰光信号以得到被所述目标物体反射的光信号。
本实施例中，考虑到在计算所述距离时，是基于发射器发出的光线和发射器发出的光线照射到目标物体上而被目标物体反射的光线，因此，实际上，发射器发出的光线，与发射器发出的光线照射到目标物体上而被目标物体反射的光线，这两部光线的频率可视为是相等的，因此，为了便于快速并直接地从信号好检测器中检测到的光线中滤除环境干扰光信号以筛选出发射器发出的光线照射到目标物体上而被目标物体反射的光线，所述设定的参考信号与所述发射器向目标物体发射的光信号同频。
在上述任一实施例中，所述距离计算器包括加法器以及乘法器，所述加法器用于对所述整数波长的数量和所述小数波长的相位进行求和处理，所述乘法器用于对所述光信号的波长与所述求和处理的结果进行乘法运算，以计算所述目标物体和所述测距装置之间的距离。
本实施例中，具体可以通过如下公式计算所述目标物体和所述测距装置之间的距离：
Figure PCTCN2019092534-appb-000007
上述公式(1)中，d表示所述目标物体和所述测距装置之间的距离， λ表示测距光信号的波长，Data[N:0]表示整数波长的数量，
Figure PCTCN2019092534-appb-000008
表示小数波长的相位。
S404、所述应用处理器根据所述目标物体与所述投影仪之间的预估距离控制驱动器根据所述距离调整所述驱动信号的强度；
S405、所述投影仪用于根据所述驱动信号的强度调整射向所述目标物体的结构光的强度，以通过图像传感器生成所述目标物体的结构化图像。
上述实施例中，以通过飞行时间测距模块来单独预估投影仪和目标物体之间的距离，但是，本领域普通技术人员也可以通过飞行时间测距模块与投影仪配合来预估投影仪和目标物体之间的距离，相当于其中的发射器被投影仪代替，而飞行时间测距模块主要负责接收反射回的测试光线，以及基于投影仪发射出的测试光线和反射回的测试光线预估投影仪和目标物体之间的距离。
此处，需要说明的是，上述图像处理装置可以在图像处理芯片上实现，也可以在其他芯片上实现。
上述实施例中，“连接”可以是有线连接，也可以是无线连接。
至此，已经对本主题的特定实施例进行了描述。其它实施例在所附权利要求书的范围内。在一些情况下，在权利要求书中记载的动作可以按照不同的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序，以实现期望的结果。在某些实施方式中，多任务处理和并行处理可以是有利的。
在20世纪90年代，对于一个技术的改进可以很明显地区分是硬件上的改进(例如，对二极管、晶体管、开关等电路结构的改进)还是软件上的改进(对于方法流程的改进)。然而，随着技术的发展，当今的很多方法流程的改进已经可以视为硬件电路结构的直接改进。设计人员几乎都通过将改进的方法流程编程到硬件电路中来得到相应的硬件电路结构。因此，不能说一个方法流程的改进就不能用硬件实体模块来实现。例如，可编程逻辑器件(Programmable Logic Device,PLD)(例如现场可编程门阵列(Field Programmable Gate Array，FPGA))就是这样一种集成电路，其逻辑功能由用户对器件编程来确定。由设计人员自行编程来把一个数字系统“集成”在一片PLD上，而不需要请芯片制造厂商来设计和制作专用的集成电路芯片。而且，如今，取代手工地制作集成电路芯片，这种编程也多半改用“逻辑编译器(logic compiler)”软件来实现，它与程序开发撰写时所用的软件编译器相类似，而要编译之前的原始代码也得用特定的编程语言来撰写，此称之为硬件描述语言 (Hardware Description Language，HDL)，而HDL也并非仅有一种，而是有许多种，如ABEL(Advanced Boolean Expression Language)、AHDL(Altera Hardware Description Language)、Confluence、CUPL(Cornell University Programming Language)、HDCal、JHDL(Java Hardware Description Language)、Lava、Lola、MyHDL、PALASM、RHDL(Ruby Hardware Description Language)等，目前最普遍使用的是VHDL(Very-High-Speed Integrated Circuit Hardware Description Language)与Verilog。本领域技术人员也应该清楚，只需要将方法流程用上述几种硬件描述语言稍作逻辑编程并编程到集成电路中，就可以很容易得到实现该逻辑方法流程的硬件电路。
应用处理器可以按任何适当的方式实现，例如，应用处理器可以采取例如微处理器或处理器以及存储可由该(微)处理器执行的计算机可读程序代码(例如软件或固件)的计算机可读介质、逻辑门、开关、专用集成电路(Application Specific Integrated Circuit，ASIC)、可编程逻辑应用处理器和嵌入微应用处理器的形式，应用处理器的例子包括但不限于以下微应用处理器：ARC 625D、Atmel AT91SAM、Microchip PIC18F26K20以及Silicone Labs C8051F320，存储器应用处理器还可以被实现为存储器的控制逻辑的一部分。本领域技术人员也知道，除了以纯计算机可读程序代码方式实现应用处理器以外，完全可以通过将方法步骤进行逻辑编程来使得应用处理器以逻辑门、开关、专用集成电路、可编程逻辑应用处理器和嵌入微应用处理器等的形式来实现相同功能。因此这种应用处理器可以被认为是一种硬件部件，而对其内包括的用于实现各种功能的装置也可以视为硬件部件内的结构。或者甚至，可以将用于实现各种功能的装置视为既可以是实现方法的软件模块又可以是硬件部件内的结构。
为了描述的方便，描述以上装置时以功能分为各种单元分别描述。当然，在实施本申请时可以把各单元的功能在同一个或多个软件和/或硬件中实现。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程 图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (22)

  1. 一种结构光投射装置，其特征在于，包括：飞行时间测距模块、驱动器、以及投影仪，所述飞行时间测距模块用于通过统计光信号飞行时间计算目标物体与所述投影仪之间的距离，所述驱动器用于根据所述距离调整驱动信号的强度，所述投影仪用于根据所述驱动信号的强度调整射向所述目标物体的结构光的强度，以通过图像传感器生成所述目标物体的结构化图像。
  2. 根据权利要求1所述的装置，其特征在于，还包括：应用处理器，所述应用处理器用于控制所述驱动器根据所述距离调整所述驱动信号的强度。
  3. 根据权利要求1所述的装置，其特征在于，所述飞行时间测距模块进一步用于向所述目标物体发射测距光信号并接收被所述目标物体反射回的所述测距光信号，且根据向所述目标物体发射的测距光信号以及被所述目标物体反射回的所述测距光信号的飞行时间预估所述目标物体与所述投影仪之间的距离。
  4. 根据权利要求3所述的装置，其特征在于，所述飞行时间测距模块进一步用于向所述目标物体发射至少两个频率互质的测距光信号，所述飞行时间测距模块进一步用于接收被所述目标物体反射回的至少两个频率互质的所述测距光信号，且根据向所述目标物体发射的每个频率的所述测距光信号以及被所述目标物体反射回的对应的所述测距光信号的飞行时间分别预估所述目标物体与所述投影仪之间的距离，进一步根据预估所述目标物体与所述投影仪之间的至少两个距离，得到最终的预估距离。
  5. 根据权利要求3所述的装置，其特征在于，所述飞行时间测距模块进一步用于向所述目标物体发射单一频率的测距光信号，所述飞行时间测距模块进一步用于接收被所述目标物体反射回的单一频率的所述测距光信号，且根据向所述目标物体发射的单一频率的所述测距光信号以及被所述目标物体反射回的所述测距光信号的整数波长和小数波长的飞行时间预估所述目标物体与所述投影仪之间的距离。
  6. 根据权利要求3所述的装置，其特征在于，所述飞行时间测距模块进一步用于根据向所述目标物体发射的测距光信号以及被所述目标物体反射回的所述测距光信号的相位差来计算所述飞行时间以预估所述目标物体与所述投影仪之间的距离。
  7. 根据权利要求3所述的装置，其特征在于，所述驱动器生成一强度小于预设强度阈值的驱动信号，所述投影仪在所述驱动信号的驱动下向目标物体发 射光强小于预设光强阈值的测距光信号。
  8. 根据权利要求1所述的装置，其特征在于，射向所述目标物体的结构光的强度与所述距离成正比关系。
  9. 根据权利要求1所述的装置，其特征在于，所述飞行时间测距模块进一步用于检测所述目标物体的图像，以对所述目标物体的图像进行光强分析得到所述目标物体的图像深度。
  10. 根据权利要求1所述的装置，其特征在于，所述飞行时间测距模块进一步用于对接收到的光信号进行差分处理以从中提取到被所述目标物体反射回的所述测距光信号。
  11. 根据权利要求1所述的装置，其特征在于，所述驱动器进一步用于综合链路信噪比以及人眼安全光强，并根据所述距离调整驱动信号的强度。
  12. 根据权利要求1-11任一项所述的装置，其特征在于，所述飞行时间测距模块和所述投影仪共用光源，所述光源在测距模式下向目标物体发射测距光信号，所述光源在结构光模式下向目标物体投射形成所述结构化图像的结构光信号。
  13. 根据权利要求1-11任一项所述的装置，其特征在于，所述图像传感器进一步用于在测距模式下感应被目标反射回的测距光信号。
  14. 一种结构光投射方法，其特征在于，包括：
    通过统计光信号飞行时间计算目标物体与所述投影仪之间的距离，
    根据所述距离调整驱动信号的强度；
    根据所述驱动信号的强度调整射向所述目标物体的结构光的强度，以通过图像传感器生成所述目标物体的结构化图像。
  15. 根据权利要求14所述的方法，其特征在于，通过统计光信号飞行时间计算目标物体与所述投影仪之间的距离，包括：向所述目标物体发射测距光信号；接收被所述目标物体反射回的所述测距光信号，且根据向所述目标物体发射的测距光信号以及被所述目标物体反射回的所述测距光信号的飞行时间预估所述目标物体与所述投影仪之间的距离。
  16. 根据权利要求15所述的方法，其特征在于，向所述目标物体发射测距光信号，包括：向所述目标物体发射至少两个频率互质的测距光信号，接收被所述目标物体反射回的至少两个频率互质的所述测距光信号；
    对应地，根据向所述目标物体发射的测距光信号以及被所述目标物体反射回的所述测距光信号的飞行时间预估所述目标物体与所述投影仪之间的距离， 包括：根据向所述目标物体发射的每个频率的所述测距光信号以及被所述目标物体反射回的对应的所述测距光信号的飞行时间分别预估所述目标物体与所述投影仪之间的距离；根据预估所述目标物体与所述投影仪之间的至少两个距离，得到最终的预估距离。
  17. 根据权利要求15所述的方法，其特征在于，向所述目标物体发射测距光信号，包括：向所述目标物体发射单一频率的测距光信号；
    对应地，根据向所述目标物体发射的测距光信号以及被所述目标物体反射回的所述测距光信号的飞行时间预估所述目标物体与所述投影仪之间的距离，包括：所接收被所述目标物体反射回的单一频率的所述测距光信号，且根据向所述目标物体发射的单一频率的所述测距光信号以及被所述目标物体反射回的所述测距光信号的整数波长和小数波长的飞行时间预估所述目标物体与所述投影仪之间的距离。
  18. 根据权利要求15所述的方法，其特征在于，根据向所述目标物体发射的测距光信号以及被所述目标物体反射回的所述测距光信号的飞行时间预估所述目标物体与所述投影仪之间的距离，包括：根据向所述目标物体发射的测距光信号以及被所述目标物体反射回的所述测距光信号的相位差来计算所述飞行时间以预估所述目标物体与所述投影仪之间的距离。
  19. 根据权利要求15所述的方法，其特征在于，还包括：生成一强度小于预设强度阈值的驱动信号，在所述驱动信号的驱动下向目标物体发射光强小于预设光强阈值的测距光信号。
  20. 根据权利要求14-19任一项所述的方法，其特征在于，还包括：在测距模式下向目标物体发射测距光信号，或者，在结构光模式下向目标物体投射形成所述结构化图像的结构光信号。
  21. 根据权利要求14-19任一项所述的方法，其特征在于，所述图像传感器在测距模式下感应被目标反射回的测距光信号。
  22. 一种三维测量系统，其特征在于，包括：结构光投射装置、图像传感器，所述结构光投射装置包括：飞行时间测距模块、驱动器、以及投影仪，所述飞行时间测距模块用于通过统计光信号飞行时间计算目标物体与所述投影仪之间的距离，所述驱动器用于根据所述距离调整驱动信号的强度，所述投影仪用于根据所述驱动信号的强度调整射向所述目标物体的结构光的强度；所述图像传感器用于生成所述目标物体的结构化图像。
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